Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

added drawing to explain the new data_flow in urdf #591

Open
wants to merge 1 commit into
base: melodic-devel-staging
Choose a base branch
from
Open
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 9 additions & 0 deletions ur_description/README.md
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
# Package Structure
This package has been updated to provide a more flexible way of building URDF for Universal Robot.
All robot parameter are described in the config folder (yaml files).
Those parameter will be used for constructing the robot model.



# DATA FLOW :
![alt text](urdf_data_flow.svg)
1 change: 1 addition & 0 deletions ur_description/urdf_data_flow.drawio
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
<mxfile host="app.diagrams.net" modified="2021-09-29T15:31:11.805Z" agent="5.0 (Windows)" etag="BmObDWe9tZAckJEuy-JJ" version="15.3.4" type="device"><diagram id="Rj4C_hhaCouUIhUVKbqt" name="Page-1">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</diagram></mxfile>
4 changes: 4 additions & 0 deletions ur_description/urdf_data_flow.svg
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.