Eric Cousineau (TRI), Addisu Taddese (Open Robotics)
The Pose Frame Specification is an extension of SDFormat that enables defining arbitrary coordinate frames and allows poses of various elements to be expressed relative to these frames. The resulting frame semantics provide powerful expressiveness for constructing models using relative coordinate frames. This reduces duplication of pose information and eliminates the need to use forward kinematics to compute the assembled poses of links. One outcome of this extension is that robot modeling can be done in SDFormat in a similar manner as URDF, significantly reducing the effort needed to transition between the two formats.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.