urdfdev

A containerized URDF development environment

Get started

docker run -p 6080:6080 -v $(pwd):/data coorde/urdfdev dev your_robot.urdf

Then open localhost:6080 in your browser

Usage

docker run -p 6080:6080 -v $(pwd):/data coorde/urdfdev <subcommand> <path-to-your-robot> [source-file...]

Available subcommands

• dev: Development mode with auto reload andv rebuild
• build: Build provided xacro file and check output with check_urdf

Source file list

In dev mode, urdfdev attempt to watch all changes in /data and this sometimes causes annoying reloads with text editor's temporary files. (like vim) You can specify source file list after robot file path to prevent that behavior.

Examples

Example using git ls-files to collect source files:

docker run -p 6080:6080 -v $(pwd):/data coorde/urdfdev dev your_robot.urdf $(git ls-files)

You can use xacro file directly. It will be converted by rosrun xacro xacro in /data in the container.

Example:

docker run -p 6080:6080 -v $(pwd):/data coorde/urdfdev dev robots/your_robot.xacro