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Is it possible to set parameters like inertial, collisions in launch not in urdf?

asked 2018-04-05 08:39:48 -0500

dorothea gravatar image

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. :)

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answered 2018-04-05 08:51:48 -0500

gvdhoorn gravatar image

updated 2018-04-05 13:12:50 -0500

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.

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Asked: 2018-04-05 08:39:48 -0500

Seen: 109 times

Last updated: Apr 05 '18