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Using robot_state_publisher with a .sdf file

asked 2013-04-18 12:30:57 -0600

pyrobat gravatar image

updated 2014-01-28 17:16:16 -0600

ngrennan gravatar image

Looking at the documentation of robot_state_publisher, it appears that the package is really only compatible with the .urdf format. Could it work with .sdf?

If not, what would be the recommended way to create the /tf data from an .sdf model loaded in Gazebo?

My initial thoughts are to grab data from the /gazebo/link_states topic and work it into the tf format ala something like the Writing a tf broadcaster (C++) tutorial. Running this on Ubuntu 12.04 with ROS Groovy. I appreciate any insights.

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This is a newer post with the same issue: http://answers.ros.org/question/20480...

alf gravatar imagealf ( 2016-01-14 04:15:50 -0600 )edit

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answered 2013-05-09 08:25:59 -0600

I think the best solution for this problem would to add SDF support to kdl_parser. Slightly more challenging would be to add SDF support to rviz display plugin to visualize the robot.

An easier solution right now would be to maintain 2 copies of your robot (SDF and URDF), or use Gazebo's URDF parser (which lags a bit behind the SDF).

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Asked: 2013-04-18 12:30:57 -0600

Seen: 1,055 times

Last updated: May 09 '13