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How to import my robot?

asked 2012-08-29 22:40:43 -0500

tommy gravatar image

Hi, I've to import a robot that I've made with pro-e. I've assembled it in xml and then I want to spaw it on gazebo. I don't know how to do it. I've tried to convert the xml file in urdf, so I tried to use rosrun gazebo spawn_model, but nothing happens. thank you

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What do you mean by "nothing happened"? Usually you should see some error messages if you can't spawn a robot. What parameters have you used for spawn_model?

Kai Bublitz gravatar image Kai Bublitz  ( 2012-08-30 01:57:18 -0500 )edit

thanka lot for your answer.

tommy gravatar image tommy  ( 2012-09-01 04:59:29 -0500 )edit

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answered 2012-08-30 01:47:48 -0500

i just import my robot into gazebo successfully. here are my steps:

1) create the URDF file for my robot;

2) open a terminal, type in: roslaunch gazebo_worlds empty_world.launch this loads an empty world into gazebo;

3) open another terminal, type in: rosrun gazebo spawn_model -file some_directory/my_robot.urdf -urdf -z 0 -model myRobot

one thing to attention about urdf: you need to define the inertial for every robot link. check here for how to define the inertial: http://www.ros.org/wiki/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model

hope that helps~

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Asked: 2012-08-29 22:40:43 -0500

Seen: 975 times

Last updated: Aug 30 '12