Documentation for URDF2Gazebo parser in gzsdf
The URDF2Gazebo parser used by gzsdf for converting URDFs to SDFs is a great tool, but currently hard to use due to the lack of documentation.
For example, I can add a ray sensor in URDF with the code below:
<gazebo reference="cliff_sensor_right_link"> <sensor:ray name="cliff_sensor_right"> <alwaysActive>true</alwaysActive> <rayCount>50</rayCount> <rangeCount>1</rangeCount> <resRange>1.0</resRange> <minAngle>-0.04361</minAngle> <maxAngle>0.04361</maxAngle> <minRange>0.01</minRange> <maxRange>0.15</maxRange> <displayRays>true</displayRays> </sensor:ray> </gazebo>
However, I couldn't find information about how this translates to SDF and what options there are in general (except checking the files by hand) .
Is there any documentation out there (wiki, API etc.)?
I was only able to locate the source code here on Bitbucket.