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Hello All: My name is Ivan, I'm working on a project with ROS and Gazebo. but I have the following problem:

I have a package (wam_description) where is the file urdf the robot, and in another package I created the plugin for gazebo (wam_gazebo), where I have a library and a small urdf where where ls declare variables for use in the plugin (and all, obviously, within the label )

My question is how I can tell the plugin Gazebo to use?, Before I had no problems and it was all in one package, but now we defragmented the packet and do not know how to solve the problem

Thanks for your time


Originally posted by Ivan Rojas Jofre on ROS Answers with karma: 70 on 2011-10-07

Post score: 1

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2 Answers 2

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@DimitriProsser is right, but you need to use xacro for this to work. Your urdf file should look like this (let's say it's called wam_description/wam.urdf.xacro):

<robot
  xmlns:xacro="http://ros.org/wiki/xacro"
  name="wam">

  <include filename="$(find wam_gazebo)/urdf/your_file.urdf" />
</robot>

Now you can load the URDF file into the robot_description parameter using this launch file:

<launch>
    <param name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/wam.urdf.xacro'" />
</launch>

Originally posted by Martin Günther with karma: 11816 on 2011-10-10

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by DimitriProsser on 2011-10-11:
That's right, I forgot that xacro is needed. Thanks for catching that error.

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In the main urdf file, use the following line to include your tags and information:

<include filename="$(find wam_gazebo)/urdf/your_file.urdf" />

Originally posted by DimitriProsser with karma: 11163 on 2011-10-07

This answer was NOT ACCEPTED on the original site

Post score: 1

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