How to put urdf in parameter server?
Is it possible to use the urdf format robot in parameter server similarly like xacro format like below? :
<!-- Convert an xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find pr2_description)/robots/pr2.urdf.xacro" />
<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model pr2" />
I have downloaded a robot model in urdf, but its very large so it's little hard to convert it into xacro format. So i want to directly use it, but what to for this robot_description parameter?