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how to convert xacro file to urdf file?

asked 2011-06-27 01:34:33 -0600

mhossameldin gravatar image

i wanna know the command used to convert xacro file to pure urdf file ,

Thanks for ur help

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Hi. How to do the same with ROS2?

dds gravatar image dds  ( 2020-07-27 11:08:52 -0600 )edit

In case somebody need it:

ros2 run xacro xacro -o robot.urdf robot.urdf.xacro

robot.urdf is the output file and robot.urdf.xacro is the file you want to convert

Youssef_Lah gravatar image Youssef_Lah  ( 2021-05-18 22:30:45 -0600 )edit

5 Answers

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answered 2014-10-09 14:54:22 -0600

fivef gravatar image

updated 2017-03-20 11:03:45 -0600

VictorLamoine gravatar image

Better use the command as intendet:

rosrun xacro xacro --inorder -o model.urdf model.urdf.xacro

A proper xml will be generated with a banner saying that the file was auto generated and should not be edited.

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Could you please provide an example? This is not very clear to me!

Mr.7th gravatar image Mr.7th  ( 2019-11-14 05:47:53 -0600 )edit

answered 2011-06-27 01:45:08 -0600

rosrun xacro model.xacro > model.urdf
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answered 2017-07-03 04:29:13 -0600

In the most recent versions, is deprecated, so something like the following works:

rosrun xacro xacro --inorder model.urdf.xacro > model.urdf
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answered 2021-07-12 04:50:37 -0600

pmuthu2s gravatar image

For Noetic:

rosrun xacro xacro model.xacro > model.urdf

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answered 2011-06-28 20:50:39 -0600

amix gravatar image


I tried this command but nothing happened. A file is created on the same directories.

rosrun xacro arm.urdf.xacro > arm.urdf

is their something wrong with this command

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there is nothing wrong with your command. If arm.urdf.xacro contains the xacro macros, arm.urdf should have the corresponding expanded xml's. If you have more detailed question, please post arm.urdf.xacro and the resulting arm.urdf.
hsu gravatar image hsu  ( 2011-06-29 05:45:47 -0600 )edit

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Asked: 2011-06-27 01:34:33 -0600

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Last updated: Jul 12 '21