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You can use urdf_to_graphiz to quickly check your URDF's links. How do you do this directly with an Xacro file?
Currently, you have to directly convert it first, but this is a little clunky:
rosrun xacro xacro.py -o mybot.urdf mybot.urdf.xacro
urdf_to_graphiz mybot.urdf
Afaik you cannot do this 'directly'. Those tools try to kiss: xacro.py only coverts to urdf, urdf_to_graphviz takes a urdf and creates a diagram.
in melodic version you can do this with the next code in terminal:
urdf_to_graphiz <(xacro mybot.urdf.xacro)
the same trick can be used on check_urdf
check_urdf <(xacro mybot.urdf.xacro)
Asked: 2015-05-18 20:00:19 -0500
Seen: 1,150 times
Last updated: May 15 '20
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