I want to use gazebo load my robot model (a urdf file),but do not want to install ros. Is there any kind of tool to make my urdf file be load by gazebo? Is there any way to do this ? Is there any document example or tutorials about this? Please help. Thanks.
Originally posted by xianxjm on Gazebo Answers with karma: 15 on 2017-11-30
Post score: 0
You can use the command line. Here a MWE:
# Download the URDF and convert it to SDF
$ wget https://gist.githubusercontent.com/fsuarez6/f8503449ce747668e30a742289c26e58/raw/132506b4fa03879d4309ff9014c16d9df6e5f740/rrbot.xacro.urdf
$ gz sdf --print rrbot.xacro.urdf > rrbot.sdf
# Start gazebo
$ gazebo
# Open another terminal, and spawn the model
$ gz model --spawn-file=rrbot.sdf --model-name=rrbot
Tested on Ubuntu 16.04 (Xenial):
$ gazebo --version
Gazebo multi-robot simulator, version 7.0.0
Copyright (C) 2012-2016 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Thanks to @nkoenig comment, you can spawn directly URDF models. Here a MWE:
# Download the URDF
$ wget https://gist.githubusercontent.com/fsuarez6/f8503449ce747668e30a742289c26e58/raw/132506b4fa03879d4309ff9014c16d9df6e5f740/rrbot.xacro.urdf
# Start gazebo
$ gazebo
# Open another terminal, and spawn the model
$ gz model --spawn-file=rrbot.xacro.urdf --model-name=rrbot
Originally posted by Francisco with karma: 143 on 2017-11-30
This answer was ACCEPTED on the original site
Post score: 2
Comment by nkoenig on 2017-12-01:
Gazebo uses libsdformat, which can read both SDF and URDF files.
Comment by xianxjm on 2017-12-03:
it works ,thanks!