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Hi, I'm working on a robot. I didn't set parameters inertial and collisions in my URDF. Is it possible to set these params in launch file? How? I know that I can change the URDF file, but it is nessesary? I need the launch to spawn the URDF model and Gazebo world.
Thanks for all answers. :)
Is it possible to set these params in launch file?
No, not directly.
You could however probably use the YAML support in xacro to generate a urdf with values taken from a YAML file and use that.
Edit:
No, not directly.
I have to nuance this a bit: it is possible to pass arguments to xacro when it converts your xacro to a urdf. However, afaik you cannot give it entire blocks, so I'm not sure that would scale very well for the things that you want to parameterise. I feel I would still recommend looking into the YAML support.
Asked: 2018-04-05 08:39:48 -0500
Seen: 238 times
Last updated: Apr 05 '18
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