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Import URDF Model into SDF

I am trying to attach the urdf.xacro models here: https://bitbucket.org/DataspeedInc/velodyne_simulator/src/d967d5a0fdacebdebcd3b24f1db1bcc70dc5c656/velodyne_description/urdf/?at=master

Into a existing SDF model.

Does anyone know if this can be directly imported and how? Or do i need to convert the urdf into SDF.

I am aware that the urdf.xacro needs to be converted to urdf. Using gazebo 8

Cheers

Asked by jmare on 2017-08-28 01:23:51 UTC

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Answers

You'll have to generate the URDF files from your .xacro files. Then, Gazebo can directly read URDF files, the conversion to SDF will happen internally. Here's a related tutorial and here a similar question.

Asked by Carlos Agüero on 2017-08-29 05:37:34 UTC

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These are the two lines of code you need:

rosrun xacro xacro --inorder robot.xacro > robot.urdf
gz sdf -p robot.urdf > robot.sdf

Keep in mind that sometimes not all the parameters will survive the conversion, so check the file before using it.

Asked by SorinV on 2017-08-29 09:32:06 UTC

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Thank you, this worked for me after some playing around!

Asked by jmare on 2017-08-30 06:25:02 UTC