Gazebo with controller
I know there have been a few posts on SDF vs URDF for gazebo, but I'm still not sure I know which to use.
It particularly interests me when I see this in the terminal (running pr2_empty_world.launch ):
Warning [parser.cc:348] Gazebo SDF has no gazebo element
Warning [parser.cc:291] DEPRECATED GAZEBO MODEL FILE
On July 1st, 2012, this formate will no longer by supported
Convert your files using the gzsdf command line tool
You have been warned!
So, if I want to go to SDF, then I cannot run a robot controller, or at least cannot use robot_description param required to run a controller.
But if I stick with URDF, then it's deprecated? If I could input Collada files or SDF with the robot_description param, I think it would help.
I see the reference to a collada converter here but haven't seen anything on it since this ticket that's over a year old.
Has it been maintained?
Hello, I have a simmechnaics file( meshes are in stl format). I converted it to a urdf file then to a xacro file, I got the same warnings( gazebo_worlds/empty_world_paused). I am not whether these warnings affect my simulation in gazebo.
Was the conversion straightforward? I know there are urdf->collada (or stl I assume) but didn't know of the reverse. Thanks
hello, yes the conversion was straightforward, I used simmechanics_to_urdf package but I got an tf exception error then I used another version of simmechanics_to_urdf package, no problem occured. But when i launch gazebo and my robot's urdf, I got error described by you, .dae is collada format i gue
Hi. i am a new user of gazebo with ROS and I get the similar warnings when i launched gazebo. May i know what should I do about the warnings? In addition, my gazebo often terminates unexpectedly, could these warnings be the reason for that?