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Here is a tutorial that describes Gazebo's model format, and how to have one model depend on another model:

http://gazebosim.org/tutorials?tut=model_structure&cat=build_robot

Here is a tutorial about making a model:

http://gazebosim.org/tutorials?tut=build_model&cat=build_robot

Here is the SDF specification:

http://sdformat.org/spec

Some other bits of info

  • The package keyword is only used within ROS, and has no valid meaning in Gazebo.
  • A URI that uses the file:// prefix must be either a full path, or reference a file that is in GAZEBO_RESOURCE_PATH
  • You can use a model:// URI prefix, which will find files/models contained in GAZEBO_MODEL_PATH