Load SDF (.model) into robot_description

asked 2012-05-09 08:09:53 -0500

rtoris288
1173 ●21 ●30 ●40

updated 2014-01-28 17:12:16 -0500

ngrennan
1 ●1 ●1

In the past and currently, you can load a URDF/XACRO file into the parameter service via something like:

<param name="robot_description" command="$(find xacro)/xacro.py 'my_robot.urdf.xacro'"/>

The latest Gazebo package supplies several nice robot models (simulator_gazebo/gazebo/gazebo/share/gazebo-1.0.1/models/youbot.model for example) which are great to spawn in Gazebo. Is it possible to use the .model file (in the SDF format that Gazebo uses) in order to load the model into robot_description in Fuerte?

edit retag flag offensive close merge delete

add a comment

7

answered 2012-06-18 07:40:23 -0500

Dave Coleman

1396 ●36 ●56 ●70 http://dav.ee/

I believe the robot_description parameter can only handle Collada and URDF formatted files. This is then read by the "URDF Interface" for use with tf, Rviz, etc. A SDF .model file is not supported.

edit flag offensive delete link

add a comment

3

answered 2012-10-18 08:29:48 -0500

ffurrer
115 ●2 ●7 ●10

You should be able to set the robot_description with a SDF file as:

<param name="robot_description" textfile="$(find <my_robot>)/model.sdf"/>

edit flag offensive delete link

Comments

This answers directly to OP indeed. But then after reading in SDF as a parameter, you'll probably need it to be processed by robot_state_publisher as this answer explains, which isn't supported yet.

130s ( 2017-04-27 23:13:03 -0500 )edit

add a comment

Load SDF (.model) into robot_description

2 Answers

Comments

Question Tools

Stats

Related questions

Load SDF (.model) into robot_description edit

2 Answers

Comments

Question Tools

Stats

Related questions

Load SDF (.model) into robot_description