Problem at URDF to SDF conversion using gzsdf
I've already created an urdf called "robot_arm.urdf". I want to spawn that model on Gazebo. Before trying to spawn, I used "gzsdf" to see it as a sdf file. However, the result was unexpected. Despite my urdf model includes 7 links and 6 joints, the created sdf file shows just one link called "__ default __". The only right thing in the converted file is the name of the model.
Edit #1: I used ROS Hydro and Gazebo come with it. Also Ubuntu 13.04.
Here are the result when I enter "$ gzsdf print robot_arm.urdf":
> <sdf version='1.4'>
> <model name='robot_arm'>
> <link name='__default__'>
> <velocity_decay>
> <linear>0</linear>
> <angular>0</angular>
> </velocity_decay>
> </link>
> </model>
> </sdf>
Here is my urdf file which is in ~/catkin_ws/src/testbot_description/robot_arm.urdf:
<?xml version="1.0" ?>
<robot name="robot_arm">
<link name="base">
<visual>
<geometry>
<cylinder length="0.025" radius="0.08"/>
</geometry>
<material name="Orange">
<color rgba="1 0.4 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.025" radius="0.08"/>
</geometry>
</collision>
</link>
<link name="link_0">
<visual>
<geometry>
<cylinder length="0.2385" radius="0.0295"/>
</geometry>
<material name="Orange">
<color rgba="1 0.4 0 1"/>
</material>
<origin rpy="0 0 0" xyz="0 0 0.13175"/>
</visual>
<collision>
<geometry>
<cylinder length="0.2385" radius="0.0295"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.13175"/>
</collision>
</link>
<joint name="base_to_link0" type="fixed">
<parent link="base"/>
<child link="link_0"/>
</joint>
<link name="link_1">
<visual>
<geometry>
<cylinder length="0.103" radius="0.0295"/>
</geometry>
<material name="Black">
<color rgba="0 0 0 1"/>
</material>
<origin rpy="0 -1.57079 1.57079" xyz="0 0.022 0.2805"/>
</visual>
<collision>
<geometry>
<cylinder length="0.103" radius="0.0295"/>
</geometry>
<origin rpy="0 -1.57079 1.57079" xyz="0 0.022 0.2805"/>
</collision>
</link>
<joint name="link0_to_link1" type="revolute">
<limit effort="30" velocity="1.0" lower="-2.792526" upper="2.792526"/>
<axis xyz="0 0 1"/>
<parent link="link_0"/>
<child link="link_1"/>
</joint>
<link name="link_2">
<inertial>
<mass value="17.4" />
<inertia ixx="0.13" iyy="0.524" izz="0.539" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<geometry>
<box size="0.059 0.229 0.079"/>
</geometry>
<material name="Orange">
<color rgba="1 0.4 0 1"/>
</material>
<origin rpy="0 0 -1.57079" xyz="0.054 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.059 0.229 0.079"/>
</geometry>
<origin rpy="0 0 -1.57079" xyz="0.054 0 0"/>
</collision>
</link>
<joint name="link1_to_link2" type="revolute">
<limit effort="30" velocity="1.0" lower="-3.906056" upper="0.785398"/>
<axis xyz="0 1 0"/>
<origin xyz="0 0.092 0.2805"/>
<parent link="link_1"/>
<child link="link_2"/>
</joint>
<link name="link_3">
<inertial>
<mass value="4.8" />
<inertia ixx="0.066" iyy="0.0125" izz="0.086" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<geometry>
<box size="0.032 0.194 0.032"/>
</geometry>
<material name="Black">
<color rgba="0 0 0 1 ...