URDF Link Port¶

Within a Gazebo Plugin GenericDomainModel, a URDF Link Port is represented by a GenericDomainModelPort with the following Attributes.

Attributes	Value	Description
Type	urdf_link
Attribute 7	ros

A URDF Link Port allows a designer to connect a Gazebo Plugin Model with a Component (which may be the parent of the Gazebo Plugin Model) that contains a physical model (generally a CAD Model).

If the CyPhy Master Interpreter is run, then the URDF Link GenericDomainModelPort’s name and the associated Physical Model’s link name in the generated URDF will used as a key and value respectively to populate the Gazebo Plugin GenericDomainModel’s connected template file Resource.

Example URDF Link GenericDomainModelPort

../../../../_images/example_ros_urdf_link.png

Example Template Resource

<robot>
  <joint name="${base_link_name}_to_scan" type="fixed">
    <parent link="${base_link_name}"/>
    <child link="${base_link_name}_scan"/>
    <origin rpy="0 0 0" xyz="0 0 0.03075"/>
  </joint>
  <link name="${base_link_name}_scan"/>
  <gazebo reference="${base_link_name}_scan">
    <sensor type="gpu_ray" name="${base_link_name}_scan">
      ...
      <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_gpu_laser.so">
          <topicName>${scan}</topicName>
          <frameName>${base_link_name}_scan</frameName>
      </plugin>
    </sensor>
  </gazebo>
</robot>

Example Generated URDF

<robot>
  <joint name="rplidar_a2_0_to_scan" type="fixed">
    <parent link="rplidar_a2_0"/>
    <child link="rplidar_a2_0_scan"/>
    <origin rpy="0 0 0" xyz="0 0 0.03075"/>
  </joint>
  <link name="rplidar_a2_0_scan"/>
  <gazebo reference="rplidar_a2_0_scan">
    <sensor type="gpu_ray" name="rplidar_a2_0_scan">
      ...
      <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_gpu_laser.so">
      <topicName>laserscan_1</topicName>
      <frameName>rplidar_a2_0_scan</frameName>
      </plugin>
    </sensor>
  </gazebo>
</robot>