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I have world file to launch then should i include my urdf of robot model inside the world too?

asked 2021-11-15 02:06:59 -0600

sidharth.jeyabal gravatar image

Actually, I'm creating a robot on my own .Now, what happened was when I launched the urdf file using the launch something like this:

<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find 2wr)/urdf/two.xacro'" />

The world in gazebo doesn't load with robot model. Now I was confused so I went on to add URDF of the robot into the world sdf and now robot appears in gazebo. Wrote all the that I wrote in URDF file inside this "modeL" tag.

<model name='2wr'>
<link name........

So my question is should we have to describe the structure of robots both in URDF as well as SDF(i.e inside the WORLD file)??

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answered 2021-12-05 10:50:47 -0600

muratkoc503 gravatar image

Do you use urdf_spawner node for robot appearing on Gazebo? If you dont use, use bottom:

<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model deneme_1 -param robot_description"/>

deneme_1: your robot name defined at urdf or .xacro

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Asked: 2021-11-15 02:06:59 -0600

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Last updated: Nov 15 '21