Importing XML to gazebo

asked 2011-02-28 13:44:48 -0500

Nikita
11 ●1 ●2 ●3

Hello. I want to import a CAD model to use it in Gazebo for simulation and control. I used the SimMechanics Link (ver. 3.1) to export it as XML from Solidworks and then tried converting it to Gazebo friendly XML using simmechanics_to_urdf package. However it doesn´t work when I spawn it showing: GazeboROSNode SpawnModel Failure: input model_xml not Gazebo XML, or cannot be converted to Gazebo XML I see no modifications in the original file, but I am not very familiar with XML or URDF, so I can´t tell if the convert.py is really getting the work done. Is it supposed to create a new file or modify the old one? How can I be sure that the conversion is taking place?

If anyone can help I will be very thankful.

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answered 2011-03-01 04:20:41 -0500

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

The simmechanics_to_urdf package will output a URDF file to standard out (if run using the xml option, which I assume you are). You should save this to a separate file and use that as your URDF file. You may want to run it like so...

rosrun simmechanics_to_urdf convert.py YOUR_XML.xml YOUR_CONFIG.yaml xml > YOUR_NEW_URDF.urdf

...and then use YOUR_NEW_URDF.urdf when trying to spawn in Gazebo.

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answered 2011-03-02 06:02:28 -0500

Nikita
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Thanks for your help, when calling convert.py I forgot to put the output URDF file.

Another problem that I had was in the URDF file: the STL files didn´t have the full path and the object couldn´t be spawned when it has multiple parts.

I changed the SRT_FILENAME.srt with <path>/SRT_FILENAME.srt and now it works perfect for me.

Thanks again, now it works like a charm. Cheers.

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Did you use the filenameformat option in the config file to fix it?

David Lu ( 2011-03-02 06:19:01 -0500 )edit

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