ROS fuerte sdf

asked 2012-10-12 01:07:10 -0500

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Hi everybody,

I'm trying to switch between ROS electric and ROS fuerte. My problem is in launching the '.launch' file since the shell says that my model is deprecated (originally it was a '.xacro' file).

Does anybody know how to convert it into a new ROS format without rewriting by scratch my model?

Thank you,

Neostek

P.S. I also tried with the 'gzsdf' command following this guide

http://answers.ros.org/question/41766/gazebo-urdf-deprecated/

The real problem is the model misses some parts and the warning message 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 continues to appear

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answered 2012-10-14 08:23:18 -0500

This post is a wiki. Anyone with karma >75 is welcome to improve it.

If the message you're seeing is a warning, check out this post

Otherwise, the way to convert from URDF to SDF is a 3 step process.

First, convert the xacro to an urdf using rosrun xacro xacro.py.

Then, from here,

rosrun gazebo urdf2model -f you_model.urdf -o old_gazebo_format.xml
roscd gazebo
source setup.bash
./gazebo/bin/gzsdf print old_gazebo_format.xml > your_model.sdf