Xacro model spawn issues
I need to simulate a custom robot model in Gazebo (I'm using Ubuntu 14.04.4 with ROS Indigo and Gazebo 7.1, which I have manually installed using the osrf repository). The xacro file I have works with Rviz just fine, but despite running without errors, I get nothing in Gazebo. I'm using the xacro files from here.
Also, here is my launch file:
<launch> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find yumi_gazebo)/worlds/yumi.world"/> </include> <param name="robot_description" command="$(find xacro)/xacro.py $(find yumi_description)/urdf/yumi.xacro" /> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model yumi" /> </launch>
I'm sorry if this is a repeat question, but I've tried quite a few of the other solutions, and I'm not really sure how to manually convert the xacro in question to SDF.