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Adding a link using xacro

asked 2013-05-21 03:49:32 -0600

hvn gravatar image


For a model to show in gazebo, I'm using several xacro files written by someone who is no longer available. I need to add a link (camera) to an existing link by means of a fixed joint so I modified the xacro that contains the existing link and added a fixed joint and a camera link. I've tried this before using only urdf, parsing it, and showing in gazebo. This worked great and the camera gives a nice view. With this xacro however, no matter what I try, it parses fine but the link doesn't show up in gazebo and the link also isn't available when checking rostopic list.

So my question is: assuming that the xacro can be modified and parsed this way, what more should I do to get the new link showing in Gazebo and in rostopic list.


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answered 2013-05-21 06:13:58 -0600

David Lu gravatar image

You're combining a few too many steps. Xacro is only a means to getting a URDF. Can you run xacro outside of your launch file and see if it matches the URDF that works in Gazebo.

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Asked: 2013-05-21 03:49:32 -0600

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Last updated: May 21 '13