<robot> element

The root element in a robot description file must be a robot, with all other elements must be encapsulated within.

Elements

• <link>

  • defines a link with its own frame

  <joint>

  • mandatory joint frame definition

  <transmission>

  • (PR2 specific)

  <gazebo>

  • Gazebo simulation extensions

Attributes

• name

  • The master file must have a name attribute. The name attribute is optional in included files. If the attribute name is specified in an additional included file, it must have the same value as in the master file.

Example

   1 <robot name="pr2">
   2   <!-- pr2 robot links and joints and more -->
   3 </robot>