[ros-users] URDF: XML formalism

David Lu!! davidvlu at gmail.com
Tue May 11 15:51:44 UTC 2010

I too have been trying to work through the differences between the
documentation and what's implemented.

I've started working on a tutorial to guide people through how to make a
complete model with the robot state publisher. Check it out here:

That said, I haven't finished writing it yet. And the documentation is
unclear how to apply textures, so I haven't finished that part yet. But
maybe you'll find it useful.


2010/5/11 Adolfo Rodríguez Tsouroukdissian <
adolfo.rodriguez at pal-robotics.com>

> On Tue, May 11, 2010 at 4:13 PM, Nicolas <nicolas at shadowrobot.com> wrote:
>> Hello ROS Community,
>> I would like to inform people who are in charge of the ROS Wiki that the
>> URDF/XML tutorial is not up to date. I noticed that the formalism is not
>> the same anymore: for instance, the tutorial does not mention the fact
>> that the tag <material> requires a name (<material name="blablabla">).
>> Another thing, the <color> tag does not work as shown on the tutorial
>> anymore: <color rgb="0 255 255" alpha="1.0"/> is not recognized when the
>> file is parsed, it has to be <color rgba="0.7 0.7 0.7 1.0"/>
>> Maybe an update of that tutorial would be nice !
>> About this new rgba notation: what are the figures used for the R, G and
>> B values ? They are not the 0-255 basic values for the RGB system, and I
>> cannot find what it is.
> They belong to the [0, 1] interval.
> HTH,
> Adolfo
>> Thank you by advance,
>> Nicolas Goossaert
>> _______________________________________________
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> --
> Adolfo Rodríguez Tsouroukdissian, Ph. D.
> Robotics engineer
> http://www.pal-robotics.com
> Tel. +34.93.414.53.47
> Fax.+
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