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how to edit in turtlebot _description package

asked 2013-03-10 01:12:21 -0600

Amal gravatar image

Hi ,

I am successfully build a map in rviz for a now I want to edit in robot description to remove gyro from the robot model that loaded to gazebo.

There is a package turtlebot_description/urdf/files.urdf.xacro ... so I think The gyro is defined in turtlebot_body.urdf.xacro, but I can not edit on it ..

How to edit it to remove gyro part .. also want to know if there is another files I have to edit on

I want to remove gyro, because I do not have a gyro on my real iRobot Create base..

any suggestion


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Which distro are you on Amal?

Daniel Stonier gravatar image Daniel Stonier  ( 2013-03-10 03:14:18 -0600 )edit

I do not understand what you mean by distro ?!

Amal gravatar image Amal  ( 2013-03-10 05:59:39 -0600 )edit

I am use ROS feurte

Amal gravatar image Amal  ( 2013-03-10 06:08:31 -0600 )edit

1 Answer

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answered 2013-03-10 14:42:27 -0600

bit-pirate gravatar image

Hi Amal!

You probably have installed the turtlebot_description package via a debian package. Thus, it was installed as sudo and if you want to edit it, you need to use sudo as well.

A better way would be to download the turtlebot_description package as source and copy it into your workspace. Remember to modify your ROS_PACKAGE_PATH in order to use the source install and not the debian package.

Have a look at this wiki entry for more details:

Good luck!

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I can edit now on this files .. what files do you think I have to edit on to remove gyro ?!

Amal gravatar image Amal  ( 2013-03-12 12:25:33 -0600 )edit

If you are only concerned about the gyro simulation, commenting out "<turtlebot_sim_imu/>" will probably be enough. If needed also remove the gyro link and joint.

bit-pirate gravatar image bit-pirate  ( 2013-03-12 13:39:27 -0600 )edit

@Amal, please mark your questions as answered - click the check symbol of the answer - if your problem has been solved. Thank you!

bit-pirate gravatar image bit-pirate  ( 2013-03-19 13:45:44 -0600 )edit

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Asked: 2013-03-10 01:12:21 -0600

Seen: 642 times

Last updated: Mar 10 '13