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Questions of .urdf.xacro file [closed]

asked 2014-04-19 17:35:14 -0600

Yantian_Zha gravatar image

I have 3 questions: First, what is the .urdf.xacro file? Second, how convert .urdf.xacro to .urdf, which can be visualized in Rviz? Third, whether there is other ways to visualize .urdf.xacro file? Thanks!

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Closed for the following reason the question is answered, right answer was accepted by Yantian_Zha
close date 2014-04-21 16:54:43

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answered 2014-04-19 19:38:53 -0600

Ken_in_JAPAN gravatar image

You might have read an article on this page ( ). Xacro file is macro file of urdf. Xacro file allow us to make it easier to maintain the robot description files. So you can convert urdf.xacro to urdf in launch.

< param name="robot_description" 
   command="$(find xacro)/ '$(find pr2_description)/robots/pr2.urdf.xacro'" />

If you have a turtlebot, I think that you have launched minimal.launch. The description.launch.xml in /turtlebot_bringup/launch/includes also describes robot_description for a turtlebot. Rviz need a robot_description to show a robot model.

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Thanks, and I found "rosrun xacro `rospack find turtlebot_description`/robots/graveyard/turtlebot.urdf.xacro -o ~/exp1_ws/src/trunk/urdf_tutorial/turtlebot.urdf " is also worked! But actually I want to rviz the complete turtlebot. I'm failed in processing turtlebot.urdf.xacro, do you know how?

Yantian_Zha gravatar image Yantian_Zha  ( 2014-04-19 21:15:27 -0600 )edit

Hello @Yantian_Zha : I'm sorry, I just answer your original question. If you have not executed simulator and are beginner of ROS, I recommend you to try segbot simulator of this page( )

Ken_in_JAPAN gravatar image Ken_in_JAPAN  ( 2014-04-20 11:43:11 -0600 )edit

Thanks, Ken_in_JAPAN!

Yantian_Zha gravatar image Yantian_Zha  ( 2014-04-20 15:25:24 -0600 )edit

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Asked: 2014-04-19 17:35:14 -0600

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Last updated: Apr 19 '14