Package Summary

Tags No category tags.
Version 1.0.2
License BSD (3-clause)
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version master
Last Updated 2020-12-08
CI status Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A conversion from URDF 2 Inventor including a simple viewer.

Additional Links

No additional links.


  • Jennifer Buehler


  • Jennifer Buehler


See also this wiki page


  • convenience-pkgs
  • assimp (ubuntu package libassimp-dev)
  • Qt4 libs (ubuntu libqt4-dev)
  • SoQt and Coin (ubuntu packages libsoqt4-deva and libcoin80-dev)


Depending catkin packages CMakeLists.txt must:


Important notes

This package has recently adopted importing meshes with assimp. The initial code is heavily based on the inventor reading code by Nestor Garcia Hidalgo which can be found in the repository coindesigner in the file assimpImport.cpp.
I have not fully tested this code with various models so please report if there is any issues.


Changelog for package urdf2inventor

1.0.2 (2018-01-06)

  • Urdf2Inventor::convert() now accepts MeshRecursionParams so that it additional transforms can be handled per link
  • Backup
  • Backup before critical changes
  • Some tidy up
  • Can now use collision geometry instead of visual for meshes, though it still needs to be added as paramter
  • Contributors: Jennifer Buehler

1.0.1 (2016-08-06)

  • Changed to BSD 3-clause license
  • Fix cylinder and box orientations
  • Added function to compute Bounding Box
  • Added new transform and cylinder methods to IVHelpers
  • Supports Cylinder in urdf2inventor now
  • Contributors: Jennifer Buehler

1.0.0 (2016-06-07)

  • Added missing installation of hpp files
  • Added installation of launch files
  • Contributors: Jennifer Buehler

0.0.4 (2016-06-06)

  • Fixed export depending system libs in cmakelists
  • Contributors: Jennifer Buehler

0.0.3 (2016-06-04)

0.0.1 (2016-05-31)

  • urdf2inventor now copies textures for the whole model as well
  • Now exports textures to file for individual meshes, working on getting it to work with overall robot
  • Fixed but in loading non-existing materials; Now also can load textures;
  • Now can use material from URDF too
  • Fixed error in scaling after transforming from assimp
  • urdf2inventor now works with assimp
  • Added urdf2inventor and urdf_viewer
  • Contributors: Jennifer Buehler

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/urdf2inventor_jaco.launch
      • output_dir
      • urdf_file [default: $(find jaco_description)/urdf/jaco_robot.urdf]
      • scale_factor [default: 1]
      • visual_corr_axis_x [default: 1]
      • visual_corr_axis_y [default: 0]
      • visual_corr_axis_z [default: 0]
      • visual_corr_axis_angle [default: 0]


No message files found.


No service files found


No plugins found.

Recent questions tagged urdf2inventor at Robotics Stack Exchange