Import URDF Model into SDF

asked 2017-08-28 01:23:51 -0600

jmare
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I am trying to attach the urdf.xacro models here: https://bitbucket.org/DataspeedInc/ve...

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

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answered 2017-08-29 09:32:06 -0600

SorinV
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updated 2017-08-29 09:40:27 -0600

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.

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

jmare ( 2017-08-30 06:25:02 -0600 )edit

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answered 2017-08-29 05:37:34 -0600

Carlos Agüero
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updated 2017-08-29 05:41:10 -0600

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.

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