Do you have a URDF model running on RVIZ

[jabrena]

Hi,

I would like to know if you have some URDF model about the EV3 running on RVIZ.

Juan Antonio

[cyborg-x1]

I don't did not advance that far for now with my EV3 stuff.
I created it for a chapter for a book about ROS. Unfortunately exactly this thing (Yocto, EV3, roscontrol) messed it up for me, so the publisher terminated the book because the chapter took too long. (4 months - working every evening). After termination I just kinda finished it.
So far I did not come back to it to use it for anything.
Why do you ask? Something not working? I have done models for other robots at work. (URDF + xacro). Also you could maybe check my xacro repo, there I have some fast scripts... https://github.com/Hacks4ROS/h4r_rapid_robot_xacros

[jabrena]

In my next iteration in this project:
https://github.com/ev3dev-lang-java/ev3dev-lang-java/milestone/10

I have some pending issues about ROS and if anyone worked a bit the integration with ROS, it could be useful. :)

I will try them.

Cheers

[cyborg-x1]

Well actually my next step on the brick would be (if I'd be working on)...
Extract the EV3 driver system and kernel settings.
Integrate in Yocto Layer
Create an image without almost everything not necessary (especially without systemd) and insert a realtime enabled kernel instead.

#UseMorePerformance

[jabrena]

Did you see this issue?
ev3dev-lang-java/ev3dev-lang-java#402

Exist a old tool to transform LDD models to ROS format.

It could be interesting for both.

What do you think?

[cyborg-x1]

Nope. URDF is more then just CAD.
It also defines Joints, Connection between parts and inertia, weight...
Interesting thing would be probably can LDD / LegoCAD be opened in Blender.

Seems to be possible:
https://www.youtube.com/watch?v=TaOeQpQMUQo
https://www.youtube.com/watch?v=AZSOp_kd_KI

Cause there is this:
https://github.com/rock-simulation/phobos

Actually I have not really worked with it. I tried once, but had no time to get into it.

[cyborg-x1]

Well probably for "just" displaying the robot in RViz one could set just some default values to inertia and weight. Simulation of this model would be odd then but you could display it.