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URDF or Xacro?

I am new to ROS and I have been using SolidWorks Exporter for generating URDF for my robot. Things didn't go well adding transmissions and controller plugins, Gazebo crashes if I spawn the urdf with controller plugins and transmissions, so I started studying other robots in ROS in detail (ex universal-robot) and all of them had Xacro files. Should I also use Xacro? Or the URDF generated by SolidWorks should work fine with transmissions and controller plugins? If I should use xacro, how do I generate a Xacro?

Thanks for your attention.

URDF or Xacro?

I am new to ROS and I have been using SolidWorks Exporter for generating URDF for my robot. Things didn't go well adding transmissions and controller plugins, Gazebo crashes if I spawn the urdf with controller plugins and transmissions, so I started studying other robots in ROS in detail (ex (for example universal-robot) and all of them had Xacro files. Should I also use Xacro? Or the URDF generated by SolidWorks should work fine with transmissions and controller plugins? If I should use xacro, how do I generate a Xacro?

Thanks for your attention.