Convert .urdf to .sdf or load .urdf

Question

Hi,

I am working on my bachelor-thesis and have a .urdf model I want to load. First I tried gzsdf convert *.urdf an got the error [Converter.cc:50] Unable to determine original SDF version. I would also be happy if I can load the .urdf model.

There are different solutions to this problem, but I found no one without ROS. (I use Gazebo without ROS.)

Do you know, what I can do? Thank you.

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Originally posted by Zwilling on Gazebo Answers with karma: 21 on 2013-04-08

Post score: 2

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Original comments

Comment by hsu on 2013-04-09:
can you post the urdf file?

Comment by Zwilling on 2013-04-19:
The file I want to convert can be found here: http://svn.openrobotino.org/robotino-ros-pkg/trunk/robotino/robotino_description/urdf/robotino.urdf

Comment by Ben B on 2013-04-24:
What version of Gazebo are you using?

Comment by Zwilling on 2013-04-30:
I use Gazebo 1.5.0

Comment by Ben B on 2013-05-06:
I would try upgrading to the latest Gazebo -- though back up anything important. That way, the behaviour of our Gazebo installs will be more likely to coincide.

Comment by Andrew Hundt on 2017-06-05:
updated http://answers.gazebosim.org/question/16376/whats-up-with-sdf-urdf-model-and-world-files/

Answer 1

In newer versions of gazebo, the correct syntax is

gz sdf -p /my_urdf.urdf > /my_sdf.sdf

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Originally posted by Kukanani with karma: 36 on 2017-10-12

This answer was ACCEPTED on the original site

Post score: 2

Answer 2

Try:

gzsdf print urdfname.urdf > newname.sdf

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Originally posted by Ben B with karma: 175 on 2013-04-09

This answer was NOT ACCEPTED on the original site

Post score: 2

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Original comments

Comment by Zwilling on 2013-04-19:
This results in "Warning [parser.cc:377] SDF has no element in file[/home/zwilling/.gazebo/models/Robotino/RobotinoModel/urdf/robotino.urdf] Error: SDF parsing the xml failed"

Comment by Ben B on 2013-04-19:
Zwilling, I get the same error using gzsdf print on your file. But, it still outputs an SDF for me. I can't use the SDF because I don't have the associated meshes, but maybe you can. Let me know if it works.

Comment by Zwilling on 2013-04-20:
It produces an empty SDF for me. You can find everythis associated to the model in http://svn.openrobotino.org/robotino-ros-pkg/trunk/robotino/robotino_description

Comment by liangfok on 2016-11-03:
The latest command is:

gz sdf -p foo.urdf > foo.sdf

Answer 3

Hi , I use urdf mostly. But I founnd this easy method where I opened gazebo. then I insert the model and I save it as a world. this generates a sdf file that has the complete completly saves the urdf in sdf format.

I tried running a plugin on it and that worked too. But I am not sure if I should expect any later problems with this.

-Bharadwaj

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Originally posted by Bharadwaj Ramesh with karma: 51 on 2013-04-19

This answer was NOT ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Zwilling on 2013-04-20:
How do you load an URDF file? How does the model.config look like? I get an error if I don't have a ... in teh model.config. If I put the .urdf in the ... I get Warning [parser.cc:377] SDF has no element in file[/home/zwilling/.gazebo/models/RobotinoModelChangedURDF/model.urdf] Error [ModelMaker.cc:123] Unable to load file[/home/zwilling/.gazebo/models/RobotinoModelChangedURDF/model.urdf] in Gazebo

Comment by Bharadwaj Ramesh on 2013-04-23:
I have a manifest.xml which looks like this :