Converting .xacro to .hrdf
Posted: Tue Oct 05, 2021 2:29 am
Hello,
I'm working on a project that involves controlling a 4 degree-of-freedom manipulator arm powered by HEBI X-series actuators. So far, I've created a xacro file for my robot model and used "rosrun xacro xacro robot.xacro > robot.urdf" to create a URDF robot model but I would love to convert my .xacro file into an HRDF model and play around with the forward and inverse kinemetics of HEBI's C++ ROS API. How can I convert my xacro robot model file into an HRDF robot model file?
I am looking through the hebi_description/scripts folder (https://github.com/HebiRobotics/hebi_de ... er/scripts) but I cannot file any program that would take in a xacro file as input and convert to an HRDF format. Perhaps I'm mistaken though and would appreciate some guidance on this matter.
I'm working on a project that involves controlling a 4 degree-of-freedom manipulator arm powered by HEBI X-series actuators. So far, I've created a xacro file for my robot model and used "rosrun xacro xacro robot.xacro > robot.urdf" to create a URDF robot model but I would love to convert my .xacro file into an HRDF model and play around with the forward and inverse kinemetics of HEBI's C++ ROS API. How can I convert my xacro robot model file into an HRDF robot model file?
I am looking through the hebi_description/scripts folder (https://github.com/HebiRobotics/hebi_de ... er/scripts) but I cannot file any program that would take in a xacro file as input and convert to an HRDF format. Perhaps I'm mistaken though and would appreciate some guidance on this matter.