turtlebot_description解讀

turtlebot_description provides a complete 3D model of the TurtleBot for simulation and visualization. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

This package contains robot description files for TurtleBot, organized into subdirectories as follows:

•   urdf/ contains (xacro representations of) urdf descriptions of various parts of the TurtleBot (hardware, sensors, and base).
•   meshes/ contains mesh files (.stl, .dae, .3ds) for visualization and collision properties.

cd /opt/ros/indigo/share/turtlebot_description
tree

或
roscd turtlebot_description
tree
           

檔案樹及說明為

.
├── cmake
│   ├── turtlebot_descriptionConfig.cmake
│   └── turtlebot_descriptionConfig-version.cmake
├── meshes
│   ├── sensors
│   │   ├── 0_xtion_pro.jpg
│   │   ├── astra.dae
│   │   ├── astra.jpg
│   │   ├── asus_xtion_pro_live.dae
│   │   ├── asus_xtion_pro_live.png
│   │   ├── kinect.dae
│   │   ├── kinect.jpg
│   │   ├── kinect.tga
│   │   ├── r200_bracket_end.stl
│   │   ├── r200_bracket.stl
│   │   ├── r200.dae
│   │   ├── r200.jpg
│   │   ├── sensor_pole.dae
│   │   ├── xtion_pro_camera.dae
│   │   ├── xtion_pro_camera.jpg
│   │   ├── xtion_pro.jpg
│   │   └── xtion_pro_stack.dae
│   └── stacks
│       ├── circles
│       │   ├── 68-02403-125_Spacer.dae
│       │   ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png
│       │   ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae
│       │   ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png
│       │   ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff.dae
│       │   ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png
│       │   ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae
│       │   ├── 68-04556-RA_Kinect_Standoff_Assy.3ds
│       │   ├── 68-04556-RA_Kinect_Standoff_Assy.dae
│       │   ├── plate_0_logo.dae
│       │   ├── plate_0_logo.tga
│       │   ├── plate_1_logo.dae
│       │   ├── plate_1_logo.tga
│       │   ├── plate_2_logo.dae
│       │   └── plate_2_logo.tga
│       └── hexagons
│           ├── images
│           │   ├── 1f_pole.jpg
│           │   ├── 1f_stack.jpg
│           │   ├── 2f_pole.jpg
│           │   ├── 2f_stack.jpg
│           │   ├── 3f_pole.jpg
│           │   ├── 3f_stack1.jpg
│           │   ├── 3f_stack.jpg
│           │   ├── kinect_pole.jpg
│           │   └── kinect_pole_old.jpg
│           ├── plate_bottom.dae
│           ├── plate_middle.dae
│           ├── plate_top.dae
│           ├── pole_bottom.dae
│           ├── pole_kinect.dae
│           ├── pole_middle.dae
│           └── pole_top.dae
├── package.xml
├── robots
│   ├── create_circles_asus_xtion_pro.urdf.xacro
│   ├── create_circles_kinect.urdf.xacro
│   ├── kobuki_hexagons_astra.urdf.xacro
│   ├── kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro
│   ├── kobuki_hexagons_asus_xtion_pro.urdf.xacro
│   ├── kobuki_hexagons_kinect.urdf.xacro
│   ├── kobuki_hexagons_r200.urdf.xacro
│   ├── roomba_circles_asus_xtion_pro.urdf.xacro
│   └── roomba_circles_kinect.urdf.xacro
├── test
│   └── test_urdf.cpp
└── urdf
    ├── common_properties.urdf.xacro
    ├── sensors
    │   ├── astra.urdf.xacro
    │   ├── asus_xtion_pro_offset.urdf.xacro
    │   ├── asus_xtion_pro.urdf.xacro
    │   ├── kinect.urdf.xacro
    │   └── r200.urdf.xacro
    ├── stacks
    │   ├── circles.urdf.xacro
    │   └── hexagons.urdf.xacro
    ├── turtlebot_common_library.urdf.xacro
    ├── turtlebot_gazebo.urdf.xacro
    ├── turtlebot_library.urdf.xacro
    └── turtlebot_properties.urdf.xacro

12 directories, 73 files
           

• see more：

1. Turtlebot代碼解讀-Turtlebot-turtlebot_description：https://www.ncnynl.com/archives/201612/1171.html
2. ROS WIKI首頁：http://wiki.ros.org/turtlebot_description