[ros-users] [Discourse.ros.org] [Humanoids] Naming standards for joints in humanoid robots

Marc Bestmann ros.discourse at gmail.com
Fri Feb 16 09:47:36 UTC 2018


It was very quiet in this SIG in the last month, so I will try to start a new discussion.
I was trying to use the same code on different humanoid robots with the same 20-DOF joint configuration. The problem was that the URDFs were very differently structured and named. So I tried to find out what the standards are in ROS.
All I could find is REP 120 [1], which specifies the naming for some links and a general frame hierarchy. This is nice, but it doesn't specify the naming for the joints.
I had a look at some of the URDFs of humanoid robots and the names differ a lot. There are different writing styles and different names for the joints, e.g. HeadPan and neck_yaw is the same thing.
Is there any specification that I missed, or would it maybe be a good idea to make a new REP?

[1] http://www.ros.org/reps/rep-0120.html

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