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Im using Gazebo 11 on ROS2 Humble.

I want to use an existing model of the polaris_ranger_xp900, by Cole Biesemeyer and Nate Koenig.

I want to spawn the model, add some ackerman gazebo plugins (maybe write one for myself) and test some of my navigation and control algorithms.

I managed to spawn the model through python launch file. the problem is that I dont know how to use the same SDF file with robot_state_publisher.

I couldn't find any complete examples for ROS2 so the question is if its even possible to use an SDF model to do what I wish? Or am I have to generate a complete URDF file so I could use robot_state_publisher?

Thanks

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You should be able to use the sdformat_urdf package to do this. Here is a tutorial written with the new Gazebo (Harmonic) in mind, but it should work similarly for Gazebo11.

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