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spawn a robot with .xacro file in c++

asked 2017-04-21 12:09:41 -0500

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Hi everyone

I plannning to spawn a robot by calling spawn_urdf_model service in C++. But the robot description format I used is .xacro rather .urdf. So, I am confused whether I can still assign the path of .xacro file to model_xml field? Or I need to do some conversion in C++ file.

Thanks

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answered 2017-04-21 12:56:14 -0500

eugene-katsevman gravatar image

updated 2017-04-21 12:57:08 -0500

You have to run xacro converter first. But if you do not modify you xacro model during simulation, you could run xacro just once, prior running gazebo in the launch-file. Then you could just swawn the urdf model.

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Asked: 2017-04-21 12:09:41 -0500

Seen: 361 times

Last updated: Apr 21 '17