From 826b12823e132f0e5b68c158336e22267f802445 Mon Sep 17 00:00:00 2001 From: Aurelie Clodic Date: Thu, 23 Oct 2014 10:17:28 +0200 Subject: [PATCH] Add Readme to explain we are not yet synchronize with Aldebaran repository --- romeo_description/urdf/Readme.txt | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 romeo_description/urdf/Readme.txt diff --git a/romeo_description/urdf/Readme.txt b/romeo_description/urdf/Readme.txt new file mode 100644 index 0000000..d60ee58 --- /dev/null +++ b/romeo_description/urdf/Readme.txt @@ -0,0 +1,21 @@ +urdf files have been checkout from Aldebaran repository +https://github.com/ros-aldebaran/romeo_robot/tree/master/romeo_description +v 0.0.9 + +It has not been possible for now to synchronize with Aldebaran repository for the following reasons : +- we need a romeo_small version of the robot (mostly without fingers), change between romeo and romeo_small could be checked with a simple diff since they are build from the same model +- Aldebaran and sot convention differ so it has been needed to change the model : + - Aldebaran model defines a joint named "base_joint", this name is already used inside sot and could not be redefined. This "base_joint" has been renamed "waist". + - Aldebaran model considers trunkYaw from torso to body and we need trunkYaw from body to torso as it is represented below, so the model has been changed accordingly + +Romeo Aldebaran +base_link --- base_joint ---> torso --- trunkYaw --> body + +Romeo sot +base_link -- waist --> body -- trunkYaw --> torso + + + + +tips: +If you want to check the model, you can use urdf_to_graphiz to get an image of the urdf tree.