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Hello all.
I am having trouble to convert the urdf.xacro files to sdf format, which is used by the newest version of gazebo. Any help will be greatly appreciated.
Thank you All! @Norman_Hendrich @hsu, please help!!!!!
Apologies for the delayed response. You are trying to convert the wrong file. You need to run xacro on the top level file as shown below:
rosrun xacro xacro.py `rospack find segbot_description`/robots/segbot.urdf.xacro use_full_gazebo_model:=true
@Lili Meng: Groovy xacro has a bug in it. Download the hydro source here: https://github.com/ros/xacro/tree/hydro-devel
@piyushk Cannot find the one you listed https://github.com/ros/xacro/tree/hydro-devel
@piyushk: Thank you, I have downloaded the new xacro and rosmake it, and after that tried the rosrun xacro xacro.py `rospack find segbot_description`/robots/segbot.urdf.xacro use_full_gazebo_model:=true, but it still has many problems. Traceback (most recent call last): File "/opt/ros/groovy/stacks/xacro/xacro.py", line 35, in <module> xacro.main() File "/opt/ros/groovy/stacks/xacro/src/xacro.py", line 563, in main eval_self_contained(doc) File "/opt/ros/groovy/stacks/xacro/src/xacro.py", line 504, in eval_self_contained eval_all(doc.documentElement, macros, symbols) File "/opt/ros/groovy/stacks/xacro/src/xacro.py", line 457, in eval_all eval_all(body, macros, scoped) File "/opt/ros/groovy/stacks/xacro/src/xacro.py", line 457, in eval_all eval_all(body, macros, scoped) File "/opt/ros/groovy/stacks/xacro/src/xacro.py", line 488, in eval_all result = eval_text(at[1], symbols) File "/opt/ros/groovy/stacks/xacro/src/xacro.py", line ...
The new xacro is a catkin package, and does not use rosbuild. I suspect you are seeing this error because it never built properly, and you are still using the system groovy version of xacro. See http://wiki.ros.org/catkin/Tutorials/using_rosbuild_with_catkin
Hi Gazer,
I have the same problem with you. I typed: rosrun xacro xacro.py segbot_base.urdf.xacro > segbot_base.urdf in the terminal. It indeed generated an urdf file, but it's empty inside of this urdf file.
Asked: 2013-05-13 12:29:13 -0500
Seen: 2,365 times
Last updated: Oct 17 '13
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If you can provide more information, like the error msg etc, it would be easy to help.
Ok. I am interested in opening up the file download from https://github.com/utexas-bwi/segbot/tree/master/segbot_description. I followed the gazebo 1.5 tutorial from gazebosim's website, it's very clear in opening up the sdf. I am now using gazebo 1.7, according the forum, .urdf.xacro file is no
longer supported. So I am thinking of converting the urdf.xacro file unto the sdf format. But I have no idea how to do that.
did you run "rosrun xacro xacro.py [your_file.urdf.xacro] > [name_for_new_urdf.urdf]" and then "gzsdf print [name_for_new_urdf.urdf] > [name_for_new_sdf.urdf]"? and what is the error msg you're getting?
very weird. There might be a problem with my rosrun xacro xacro.py, when I ran it, it did convert xacro > urdf succesfully, but when I open the urdf it converts, it shows <root xmlns:xacro="http://ros.org/wiki/xacro"> <!-- Included URDF Files --> </root>
That urdf file is empty
can you tell what exactly you typed?
sorry, thank you for all of your help so far. For some unknown reason, I tried the same command on friend's computer, it works flawlessly. But when I tried the same command : rosrun xacro xacro.py my.xacro.urdf > my.urdf
a file was created. But when I open my.urdf, that file was actually empty
I still haven't figure it out what went wrong, but I guess I would use friend's computer for now. PS: I was also following following the gazebo tutorial from ROS website, I was unable to "roslaunch gazebo_worlds empty_world.launch" and "rosrun gazebo gzsdf print" to convert a file. So I guess