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Hi everybody,

I'm trying to switch between ROS electric and ROS fuerte. My problem is in launching the '.launch' file since the shell says that my model is deprecated (originally it was a '.xacro' file).

Does anybody know how to convert it into a new ROS format without rewriting by scratch my model?

Thank you,


P.S. I also tried with the 'gzsdf' command following this guide


The real problem is the model misses some parts and the warning message Warning [parser.cc:348] Gazebo SDF has no gazebo element Warning [parser.cc:291] DEPRECATED GAZEBO MODEL FILE On July 1st, 2012, this formate will no longer by supported continues to appear

Originally posted by Neostek on ROS Answers with karma: 156 on 2012-10-12

Post score: 0


1 Answer 1


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If the message you're seeing is a warning, check out this post

Otherwise, the way to convert from URDF to SDF is a 3 step process.

First, convert the xacro to an urdf using rosrun xacro xacro.py.

Then, from here,

rosrun gazebo urdf2model -f you_model.urdf -o old_gazebo_format.xml
roscd gazebo
source setup.bash
./gazebo/bin/gzsdf print old_gazebo_format.xml > your_model.sdf

Originally posted by phil0stine with karma: 682 on 2012-10-14

This answer was ACCEPTED on the original site

Post score: 2


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