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add sensor in urdf from gazebo model database

Hi, In gazebo, there are already available models (insert tab) which you can simply insert in your scene. I am having trouble with using it with my urdf model.

I want to add velodyne to my robot. But the problem is that i cannot do this. I have tried adding it using this link information but NO LUCK as it's for .sdf format models.

  • -- -- I have also tried this approach but i cannot add velodyne using this approach though i have added different sensors using the same underlying concept:

Need help with adding available model (velodyne in .sdf) sensor to a urdf robot model...