Hi,
I am working on my bachelor-thesis and have a .urdf model I want to load.
First I tried gzsdf convert *.urdf an got the error [Converter.cc:50] Unable to determine original SDF version.
I would also be happy if I can load the .urdf model.
There are different solutions to this problem, but I found no one without ROS. (I use Gazebo without ROS.)
Do you know, what I can do? Thank you.
In newer versions of gazebo, the correct syntax is
gz sdf -p /my_urdf.urdf > /my_sdf.sdf
Try:
gzsdf print urdfname.urdf > newname.sdf
It produces an empty SDF for me. You can find everythis associated to the model in http://svn.openrobotino.org/robotino-ros-pkg/trunk/robotino/robotino_description
Hi , I use urdf mostly. But I founnd this easy method where I opened gazebo. then I insert the model and I save it as a world. this generates a sdf file that has the complete completly saves the urdf in sdf format.
I tried running a plugin on it and that worked too. But I am not sure if I should expect any later problems with this.
-Bharadwaj
How do you load an URDF file? How does the model.config look like? I get an error if I don't have a <model><sdf>...</sdf></model> in teh model.config. If I put the .urdf in the <sdf>...</sdf> I get Warning [parser.cc:377] SDF has no <sdf> element in file[/home/zwilling/.gazebo/models/RobotinoModelChangedURDF/model.urdf] Error [ModelMaker.cc:123] Unable to load file[/home/zwilling/.gazebo/models/RobotinoModelChangedURDF/model.urdf] in Gazebo
Now Gazebo has a beautifully written tutorial about it: http://gazebosim.org/tutorials?tut=ro...
In a nutshell: Gazebo can read URDF but you have to add some things to it:
Every link should have <inertia> element
You can attache gazebo related information to links with the <gazebo reference="link_name"> tag (practically do this in robot.gazebo file)
@Zwilling : I have a manifest.xml which looks like this :
<model>
<name>My Robot</name>
<version>1.0</version>
<sdf version='1.3'>model.sdf</sdf>
<author>
<name>My Name</name>
<email>me@my.email</email>
</author>
<description>
My awesome robot.
</description>
</model>
This was written for the gazebo version-1.3. This is what I used to load the model initially on Gazebo and then saved it as a world. Hope this helps.
I checked other models that i had and in the manifest.xml i have said it as : <sdf>model.urdf</sdf>
Try this out. This is what I have for most of my models. I think this should work.
I tried this and got Warning [parser.cc:377] SDF has no <sdf> element in file[/home/zwilling/.gazebo/models/RobotinoModel/urdf/robotino.urdf] Error [ModelMaker.cc:123] Unable to load file[/home/zwilling/.gazebo/models/RobotinoModel/urdf/robotino.urdf] Now I have converted the file by hand... Thank you for your help
Asked: 2013-04-08 17:11:16 -0500
Seen: 24,095 times
Last updated: Apr 23 '13
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can you post the urdf file?
The file I want to convert can be found here: http://svn.openrobotino.org/robotino-ros-pkg/trunk/robotino/robotino_description/urdf/robotino.urdf
What version of Gazebo are you using?
I use Gazebo 1.5.0
I would try upgrading to the latest Gazebo -- though back up anything important. That way, the behaviour of our Gazebo installs will be more likely to coincide.
updated http://answers.gazebosim.org/question/16376/whats-up-with-sdf-urdf-model-and-world-files/