how to use urdf.xacro file in Gazebo???
Hello all.
I have to load a .urdf.xacro file using the gazebo2.2. The file of my interested is https://github.com/ipa320/schunk_modular_robotics.git
I'm trying to this command on ROS-indigo rosrun xacro xacro.py lwa.urdf.xacro but,
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from lwa.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
It just show above result, not convertion How to convert xacro -> urdf OR How to using xacro file on gazebo??
Thank you!
Asked by erchamion on 2015-06-25 03:11:27 UTC
Answers
In your launch file, add a line to convert your .xacro file to .urdf. Gazebo can handle urdf directly, and a python script exists for the same. Here it is:
<param name="robot_description" command="$(find xacro)/xacro.py $(find $DIRECTORY_WITH_ROBOT_DESCRIPTION_FILES)/urdf/$YOUR_FILE_NAME.urdf.xacro" />
Asked by karthikj219 on 2016-05-23 00:21:14 UTC
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