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how to use urdf.xacro file in Gazebo???

asked 2015-06-25 03:11:27 -0500

erchamion gravatar image

updated 2015-06-25 03:13:36 -0500

Hello all.

I have to load a .urdf.xacro file using the gazebo2.2. The file of my interested is https://github.com/ipa320/schunkmodularrobotics.git

I'm trying to this command on ROS-indigo rosrun xacro xacro.py lwa.urdf.xacro but,

<robot xmlns:xacro="&lt;a href=" http:="" www.ros.org="" wiki="" xacro"="">http://www.ros.org/wiki/xacro"> </robot>

It just show above result, not convertion How to convert xacro -> urdf OR How to using xacro file on gazebo??

Thank you!

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answered 2016-05-23 00:21:14 -0500

karthikj219 gravatar image

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" />
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Asked: 2015-06-25 03:11:27 -0500

Seen: 3,075 times

Last updated: May 23 '16