[ros-users] URDF: XML formalism

John Hsu johnhsu at willowgarage.com
Tue May 11 16:36:10 UTC 2010

Hi Nicolas,
thanks for noticing the inconsistencies.  I've updated the wiki accordingly,
and opened a ticket on name requirement of a material.  Originally the
design was to use a name when material is defined outside of the visual
element (see how PR2 is defined for example).

On Tue, May 11, 2010 at 7:13 AM, 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.
> Thank you by advance,
> Nicolas Goossaert
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