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Hi munnveed,

I had the same problem. If you want to use RVIZ with gazebo, you definetly need an urdf-description of your robot. My workaroud was, to have both, an URDF model for the robot_description, and an SDF model for the visualization.

But this was very difficult to maintain, since all changes had to be done in both models. In the meanwhile, I took the time to setup an URDF model and extended this with <gazebo> elements as evilBiber already explained. Gazebo is able to convert it on loading, but i has to be without mistakes, otherwise the parser will fail.