What is the industry best practices for the URDF / SDF mismatch?

This page summarizes the projects mentioned and recommended in the original post on reddit.com/r/ROS

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  • sdformat_urdf

    A urdf_parser_plugin using libsdformat to parse SDFormat XML into URDF structures

    sdformat_urdf package to transform SDF to XML, with a lot of limitations

  • robot_state_publisher

    Allows you to publish the state of a robot (i.e the position of its base and all joints) via the "tf" transform library

    A lengthy discussion on the robot state publisher github issues

  • Scout APM

    Less time debugging, more time building. Scout APM allows you to find and fix performance issues with no hassle. Now with error monitoring and external services monitoring, Scout is a developer's best friend when it comes to application development.

  • gazebo_ros_pkgs

    Wrappers, tools and additional API's for using ROS with Gazebo

    Optionally, is it possible to use a different type of joint? I see in the gazebo ackermann prius car example, it uses several universal joints. Can I use another type of joint and still be able to simulate the robot to test out the controller?

NOTE: The number of mentions on this list indicates mentions on common posts plus user suggested alternatives. Hence, a higher number means a more popular project.

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