(Hardware) Interfaces Working Group #8 is Today!

Interfaces Working Group is today!

Today we will seek some input for standardization of TF Frames and structures for industrial serial manipulators.

Of most interest is should calibration techniques be taken into account or not. Most manipulator calibration techniques use a form of Denavit-Hartenberg, but TF & URDF don’t use that at all, they are much more generic/free form.

A draft REP was shared in a prior meeting that prescribes the use of REP-103 chirality and frame orientation, that means going from D-H to a compliant URDF would require conversion. Possible in most cases, references below, but drives an additional step/more work.

An option is make a D-H representation in URDF, i.e. rotate only around Z, change frame orientation accordingly, etc, or simply stick to what we have always done in ROS and follow REP-103.

If you have thoughts on this, please consider attending.

As always notes here: HW Interface Working Group Minutes-initiated 031822 - Google Docs

Meeting info here:

Topic: Hardware Interfaces Working Group Meeting
Time: Jul 7, 2022 10:00 AM Central Time (US and Canada)
Every 2 weeks on Thu, until Sep 1, 2022, 5 occurrence(s)
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Jul 21, 2022 10:00 AM
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Good discussion today with some additional topic points for consideration within the WG. The minutes are updated and the link is above. Next meeting July 21!

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Hi Matt,
Is there any recording available for the WG meetings? I have missed the @dougsmith presentation on PC<-> PLC communication presented on Meeting #7 ( June 23, 2022). I’m working on ROS <-> OPCUA communication specially to connect Siemens HMIs to ROS without PLC and interested to contribute in this field in interface WG.


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I do not have a recording available, and that is something we can fix. That said, we do have the full content of what Doug shared in the minutes. Were you able to access them? They are linked above.


Thanks Matt for the reply.
Yes, I have read them in the minutes already and it was helpful. Anyway, It would be great if we could have the recordings for the future meetings.


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