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Hello everyone!

I am starting from scratch with ROS (just recently installed Jade) and I wanted to ask for some guidance. I have followed all basic ROS tutorials already and my idea was to develop a simulation model with Gazebo that I can control through ROS nodes. I would afterwards move on to the real robot but only after the simulation model is complete and working properly.

I followed Gazebo's basic tutorials as well (still have some to go through) but the first problem I encountered is my robot has mecanum wheels. I read that the easiest way to go is using the Planar Move Plugin so I looked it up in here and apparently I should first develop a URDF file of my robot. I have been going through the tutorials (first had to learn tf) but I am starting to wonder. Do I really need the URDF file? Is there any way to work directly with SDF files both in ROS and gazebo or at least generate the URDF from the SDF I already have?

I would really appreciate it if someone could clarify this for me.


Originally posted by maztentropy on ROS Answers with karma: 35 on 2015-06-03

Post score: 0

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3 Answers 3

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There is a pull request available for a sdf to urdf converter. I downloaded the source and it worked for me, however, if you have any plugins specified in your SDF, i dont think the person who made the pull request got around to converting plugins in SDF to URDF yet, as i had to manually copy the plugins over to the URDF.

https://bitbucket.org/osrf/sdformat/pull-request/165/urdf-format-support-in-sdf/diff


Originally posted by l0g1x with karma: 1526 on 2015-06-03

This answer was ACCEPTED on the original site

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Original comments

Comment by rarcturusblack on 2022-04-19:
hi! The bitbucket link doesn't work anymore. Is there a converter? I couldn't find one, I'm using ROS noetic, sdf 1.7 and gazebo 11.

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It seems you can't avoid URDF. See this answer. Here is a tutorial describing how to work with URDF in Gazebo.


Originally posted by Boris with karma: 3060 on 2015-06-03

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So it's not a full converter per se, but there's a parser plugin sdformat_urdf which converts an SDF XML into URDF C++ DOM structures. Though there are some limitations as not all fields are compatible like for example if you have any sensors attached to a joint, it won't be parsed. More details here: https://github.com/ros/sdformat_urdf/tree/ros2/sdformat_urdf

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