[ros-users] URDF Anchor/Joint_Properties

John Hsu johnhsu at willowgarage.com
Fri Nov 5 23:50:11 UTC 2010

Hi David!!,

anchor and joint_properties tags are obsolete, I updated them with origin
and dynamics.

Thanks for pointing them out.


On Nov 6, 2010 5:12 AM, "David Lu!!" <davidlu at wustl.edu> wrote:

Hey all,
I was looking thorugh the URDF/xacro for the Erratic and noticed two
features of the joints that I can't find documentation for: anchor and

   <joint name="${parent}_${suffix}_wheel_joint" type="continuous">
     <origin xyz="0 ${reflect*caster_wheel_offset_y} ${wheel_radius}"
rpy="0 0 0" />
     <axis xyz="0 1 0" />
     <anchor xyz="0 0 0" />
     <limit effort="100" velocity="100" />
     <joint_properties damping="0.0" friction="0.0" />
     <parent link="${parent}" />
     <child link="${parent}_${suffix}_wheel_link" />

I can't find any reference to the anchor tag anywhere.
joint_properties also seems to have the same field has the dynamics
tag. Does anyone have any more information on the first (is it
deprecated now?) and which form is correct for the second one?

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