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Converting Collada to urdf

asked 2012-08-18 07:04:01 -0600

phil0stine
682 ●15 ●24 ●33

updated 2012-08-19 11:54:55 -0600

When running rosrun urdf check_urdf my_collada.dae, I get this error.

COLLADA error: Trying to load an invalid Collada version for this DOM build

I have looked at the source in collada_parser and urdf and cannot seem to find which version is required (I have tried 1.4.0 and 1.5.0)

I need to be publishing joints on /tf, so I want to convert my Collada file into an URDF, which robot_description requires as input.

Will this method work on a full-robot model with kinematic information, or would I have to convert each part to an urdf?

Here's a link to an example file that gives the error

Thanks

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Can you post the model, or a similar one that gives you the same error?

jbohren ( 2012-08-19 10:27:43 -0600 )edit

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1 Answer

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answered 2012-08-19 17:16:28 -0600

dougbot01

342 ●6 ●9 ●17 http://dougsbots.blogspot.com/

Perhaps I am misunderstanding something, but as I see it you are testing a COLLADA format to see if it is URDF. They are two different formats. You can include a reference to a .dae file within a URDF file as a link, but .dae themselves are not URDF.

I would recommend you check out this excellent video on URDF from ROSCON http://www.youtube.com/watch?v=g9WHxOpAUns

At 15:30 in the video you will see the format to include .dae into your URDF file. I've followed this, and it works perfectly. I have about 10 different mesh links in my URDF with no problems.