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How to check your Xacro / urdf model

To be able to check your model, you have to convert your xacro file to plain urdf:

rosrun xacro xacro.py -o model_out.urdf model_in.urdf.xacro

Then you can use:

• check_urdf: rosrun urdf check_urdf tmp.urdf see here for more details: How to check xacro syntax like check urdf

• gzsdf: Gazebo comes with this tool to check the validity of an urdf model. See here: Gazebo ROS urdf, part "Verifying the Gazebo Model Works"

How to use your Xacro model

To use your xacro model, you have to convert it first to plain urdf. The best way is to convert it at the time you load you model into a ros parameter, so your urdf model will always be up to date, as any modifications on the xacro will be applied on next launch.

See here: Using Xacro to clean urdf file, first paragraph.

How to check your Xacro / urdf model

To be able to check your model, you have to convert your xacro file to plain urdf:

rosrun xacro xacro.py -o model_out.urdf model_in.urdf.xacro

Then you can use:

• check_urdf: rosrun urdf check_urdf tmp.urdf see here for more details: How to check xacro syntax like check urdf

• gzsdf: Gazebo comes with this tool to check the validity of an urdf model. See here: Gazebo ROS urdf, part "Verifying the Gazebo Model Works"

How to use your Xacro model

To use your xacro model, you have to convert it first to plain urdf. The best way is to convert it at the time you load you model into a ros parameter, so your urdf model will always be up to date, as any modifications on the xacro will be applied on next launch.

See here: Using Xacro to clean urdf file, first paragraph.