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Dear Gazebo Users,

I need to have a SDF format of the Mobile Robot mp_500 but I'm struggling too much of getting the URDF converted into SDF. Does anyone have any idea how I can convert this file? What is it that i have to change in the URDF file to make it work?

Thank you very much.

E. Raci


Originally posted by edo_raci on Gazebo Answers with karma: 3 on 2015-03-02

Post score: 0


Original comments

Comment by AndreiHaidu on 2015-03-02:
Gazebo supports urdf models as well, you don't need to change it into sdf if you don't want to. Do you get any errors when loading the urdf model?

Comment by edo_raci on 2015-03-02:
How can i make these models to spawn in Gazebo, is there a special code or something? So far i only know how to spwan models using gazebos Model Database!

Comment by edo_raci on 2015-03-02:
As soon as i want to load the UR10 in the Gazebo, i have modified it's URDF from .gazebo/models/ur10 and because i wanted to add a sensor to it, however as soon as i want to load it in gazebo i get an error saying:

Comment by edo_raci on 2015-03-02:
Error [Converter.cc:127] Unable to convert from SDF version 1.5 to 1.4 Error [parser.cc:697] XML Element[use_parent_model_frame], child of element[axis] not defined in SDF. Ignoring.[axis] Error [parser.cc:688] Error reading element Error [parser.cc:688] Error reading element Error [parser.cc:688] Error reading element Error [parser.cc:348] Unable to read element Error: Could not find the 'robot' element in the xml file at line 81 in /build/buildd/urdfdom-

Comment by edo_raci on 2015-03-02:
urdfdom-0.2.10+dfsg/urdf_parser/src/model.cpp Error [parser_urdf.cc:2608] Unable to call parseURDF on robot model Error [parser.cc:273] parse as old deprecated model file failed. Error [ModelMaker.cc:126] Unable to load file[/home/labor/.gazebo/models/Universal_Robot/ur10.sdf]

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2 Answers 2

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Gazebo has a command line too that converts URDF to SDF:

gz sdf -p <URDF>

You can redirect output to a file.


Originally posted by nkoenig with karma: 7676 on 2015-03-03

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by edo_raci on 2015-03-05:
I get the Error gz:: command not found! I have placed the URDF file i want to convert into .gazebo/models directory is it correct?

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Have you looked at the URDF in Gazebo tutorial?

In particular, make sure that you add an inertia element to each link.


Originally posted by NickDP with karma: 186 on 2015-03-02

This answer was NOT ACCEPTED on the original site

Post score: 1

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