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SDF to URDF converter?

asked 2013-02-08 07:20:16 -0500

isura gravatar image

updated 2013-02-08 07:20:35 -0500

Since SDF and URDF are both used in ROS/Gazebo as mentioned in: http://answers.gazebosim.org/question/853/should-urdf-in-gazebo-tutorials-be-replaced-with/

http://answers.gazebosim.org/question/543/why-does-drcsim-atlas-robot-model-use-urdf/

Is there a way to convert from SDF to URDF? I have a robot in SDF that I want to use with ROS mechanism_controllers.

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answered 2013-02-08 17:44:53 -0500

nkoenig gravatar image

Sorry, but there currently is no converter from SDF to URDF.

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hi, sorry for commenting here but I posted my doubt and no one answered. I have the same problem in using ros. I have SDF file for my model which I got from gazebo and I want to use it in ros rviz. But ros is supporting urdf only. is it possible to proceed with sdf now ?

mukesh_148 gravatar imagemukesh_148 ( 2017-08-23 11:28:01 -0500 )edit
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answered 2016-05-04 12:48:50 -0500

I stumbled upon the following package: https://github.com/andreasBihlmaier/p...

It contains a sdf2urdf script, which worked for me after some tweaking.

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can you please explain what things you have tried to make it work.

mukesh_148 gravatar imagemukesh_148 ( 2017-08-23 11:32:44 -0500 )edit

I have created a video that describes step by step how to make it work. Steps are the following: 1- Clone the SDF2URDF package and install (the one indicated by aorthey) 2- Use the sdf2urdf command to convert into URDF: > rosrun pysdf sdf2urdf my_model.sdf result_model.urdf 3- Load the URDF into the parameter server from the launch file of the simulation 4- Use Rviz to check that the URDF has been actually loaded and that it is correct Find the video here: https://youtu.be/8g5nMxhi_Pw

Ricardo Tellez L. gravatar imageRicardo Tellez L. ( 2017-08-28 12:01:30 -0500 )edit

Thanks - I would upvote this if I had enough points

ajc gravatar imageajc ( 2018-09-04 02:57:24 -0500 )edit
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Asked: 2013-02-08 07:20:16 -0500

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Last updated: Feb 08 '13