Questions tagged [sdf]

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Access position of entities from a plugin

I'm trying to implement a simple light sensor plugin in Gazebo Ignition; this will be output measurements based on the distance between the object (where the plugin is attached) and the light sources. ...
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Implementing Gazebo's plowing model in my <robot> urdf file

In my previous question (Trouble trying to implement Gazebo's plowing model), I tried to make the plowing approximation (https://github.com/gazebosim/gazebo-classic/pull/3164/files) tests work as ...
Tanaunt's user avatar
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Error Code 13 Msg: Directory dosen't exist...when starting Gazebo with .world file including .sdf-models

i have trouble running a world with Gazebo (Version 11.10.2)... When i run the world with the command:gazebo test.world i receive the error: ...
Henrik's user avatar
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What's this error from a closed kinematic chain in gazebo?

I was implementing closed kinematic chains for my URDF by including an SDF description of the robot's links and joints within the gazebo tag. The URDF and robot ...
Victor's user avatar
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Inertia Element Conversion Issues in URDF to SDF in ROS2 Iron (Worked in Galactic)

I am encountering an issue in ROS2 Iron that wasn't present in ROS2 Galactic, related to the conversion of a URDF file (generated from XACRO) to SDF, specifically regarding the inertia elements. I am ...
Marcus Vinicius's user avatar
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How to update a param defined in the SDF file?

I have a simulation with Gazebo-Garden and ros2-Humble to manage drones with a camera. In the camera sensor SDF part I have: ...
SebL's user avatar
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how to export sdf file from onshape?

I had problems extracting urdf file from solidworks, because I am working on a delta robot (closed chain). So I redesigned the robot in onshape which I read that it can be extracted directly as sdf. ...
issam_ks's user avatar
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DAE or STL with textures behaves strange in Gazebo

I have "landscape" 3d shape, either STL or DAE (no texture or UV mapping in this DAE). I am trying to show it in Gazebo and to "stretch" a png texture on it. Now, first of all, ...
Steve Brown's user avatar
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Gazebo Harmonic : world SDF file uses file:/// prefix for paths instead of model://

I'm facing an issue when saving a sdf world with Gazebo Harmonic. I import a model I created into Gazebo. It's located in GZ_SIM_RESOURCE_PATH : ...
arusso's user avatar
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How can I use an SDF instead of a URDF with gazebo in ros2 humble?

Im using Gazebo 11 on ROS2 Humble. I want to use an existing model of the polaris_ranger_xp900, by Cole Biesemeyer and Nate Koenig. I want to spawn the model, add some ackerman gazebo plugins (maybe ...
oferb's user avatar
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Spawning an Sdf Model in ROS humble

I have created an Object using Blender and was able to add the Add to the Path File in Ros Humble Gazebo it worked, how to open the same SDF file using Python Launch file.
Kedar's user avatar
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gazebo simulation texture or color error. lunar surface is showing yellow black stripes

Hello. I'm trying to make a simulation of moon surface on gazebo. I tried to use this git for importing moon surface model. https://github.com/MobileRobots/amr-ros-config/tree/master/gazebo/models/...
sanchez_khalifa's user avatar
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Gazebo SDF file, Defining Motor & Prop parameters like MaxRotVel, RotorDragCoefficient etc

I am new to Gazebo SDF file generation and I am facing problems in defining motor parameters. Can anyone give an understanding (also where to get it). Iris is an example which is already there as a ...
Aditya Vardhan's user avatar
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3 answers
134 views

Loading another model from an SDF ros2 humble

I'm trying to include another sdf with , I can load it properly with an absolute path to the file but I want to make it a relative path. Structure is as follows: package src models worlds model_1....
Coen H's user avatar
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1 answer
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Imu topic not showing in Gazebo

I am trying to create a gazebo simulation for two wheel robot. When I added the camera model I can see it's topic but when I am adding imu I am not able to see it's topic. I am not sure what is wrong. ...
Ankit Kumar's user avatar
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Spawning a Robot in Gazebo using Python Launch File

This is something I struggled with for a few hours today and I wanted to post this for posterity. If you have a URDF file and want to launch Gazebo with the robot spawned then this will get you there: ...
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Easiest way for closed kinematic chain?

Greetings. I have a model containing a closed kinematic chain, which is not supported by ROS URDF file standard. Therefore I could write the description also in SDF which allows closed kinematic ...
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1 answer
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model with different friction

I am trying to create an SDF object in gazebo that has different surface friction values at different points to test how controller respond to the ground changing. Is it possible to do this using SDF? ...
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1 answer
11 views

ROS2 python launch, how to forward launch arguments to xacro models

Hi I like to use LaunchArgument to process my xacro file, which contains my robot model for gazebo and the robot_description for my robot_state_publisher. ...
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1 answer
113 views

[Solved] How to convert urdf to sdf (gz not working)

For a little bit of context, I'm using ros Foxy with Ubuntu 20.04 My initial goal was to use the gazebo_ros_p3d plugin in gazebo by adding : ...
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I have world file to launch then should i include my urdf of robot model inside the world too?

Actually, I'm creating a robot on my own .Now, what happened was when I launched the urdf file using the launch something like this: ...
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1 answer
77 views

ROS2 : SDF to URDF

This question gets asked a lot. But no clear answer on a ROS2 solution it seems. Is there any ROS2 tool to convert a sdf into a urdf ? Originally posted by Dawi on ROS Answers with karma: 11 on 2020-...
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1 answer
76 views

Using SDF instead of URDF with Robot State Publisher

With URDF models, you can use robot_state_publisher to have the joints published in tf. Since this needs the ...
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1 answer
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could not open world file

world file ...
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1 answer
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Unable to convert URDF to sdf to use in Gazebo, but works fine in Rviz

Hi all, I am new to ROS and was trying to follow along the urdf tutorials on URDF to create my own robot (a cart that should be pushed) and using it in Gazebo. I managed to create cart_v0.urdf.xacro ...
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1 answer
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Parallel Joints in ROS

I work on a team that creates a humanoid robot, and we are currently making the much-procrastinated change to port over to ROS. However, the robot has multiple parallel joints in the legs, and I ...
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1 answer
72 views

Convert SDF world made with building editor to URDF

I'm using ROS Melodic and Gazebo 9.6.0. I will use Gazebo's Build Editor to build a building using a floor plant image, like this: You can see how it can be done in this video. I'm going to use that ...
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1 answer
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How to attach sensor from gazebo database(.sdf) to urdf model?

Hi, In gazebo, there are already available models (insert tab) which you can simple insert in your scene. I am having trouble with using it with my urdf model. I want to add velodyne to my robot. But ...
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1 answer
5 views

Does SDF format not working with ROS?

Hello I m at the beginning of simulation a robot. So Before start I made some research for start point. The biggest contradiction that I face up is: Should I start my design with SDF of URFD format. ( ...
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1 answer
26 views

Convert sdf file to urdf.xacro

Hey there I actually have a sdf file given and would like to convert it to an urdf.xacro file. As I have not found any converter for that I would like to do that by hand. Now what I currently have is ...
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1 answer
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Cannot insert or see models even though gazebo_model_path is set

I am having issues inserting custom models into gazebo. Here is my file structure: lawnbot_ws src lawnbot_desription models grassplane meshes model.sdf and model.config package.xml Gazebo ...
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1 answer
2 views

The recommended way to integrate ROS and GAZEBO to build a robot model

Hello, I know that there is a plenty of treads about this subjects but none of them really answered my doubts. But first, a little contextualization. I am using ROS a while and currently I consider ...
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1 answer
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robot slips after upgrade to kinetic

Dear all, After upgrading from Ubuntu 14.04 to 16.04 and from Indigo to Kinetic I'm experiencing a weird behavior from Gazebo and the HyQ robot model. The complete robot model can be found here. I ...
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1 answer
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Connect Gazebo SDF model to ROS

Hello, since I'm a newbie in ROS and Gazebo I'm having trouble to find some tutorial or someone who could explain how to connect a robot SDF model to ROS so that I could acquire sensor data. Is there ...
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3 answers
36 views

Questions to SDF, urdf, xacro, material, textures using Gazebo

Hi Guys, Currently I am a little stuck with my xacro model. I have a texture file which should be attached to a surface in the xacro. How to add materials to your package, what do I need to export (...
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1 answer
6 views

what is xmlns tag for xacro?

what is xmlns tag for xacro? Here is the tutorial of xacro It is confusing for me to see the below code ...
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1 answer
36 views

How to do motion planing with closed loop chain/graph robot structure?

URDF supports only tree structure. SDF support graph structure but it is only for simulation. Moveit supports only URDF so I think I cant use it for motion planing (except if I close it with maths, ...
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1 answer
1 view

How to use SDF with ROS packages in gazebo?

Using ROS Indigo and Gazebo 2.2 on Ubuntu 14.04 I have created a model for a robot that is similar to Clearpath's Jackal. What I am trying to do is have the already-created Jackal packages apply to my ...
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1 answer
2 views

create a laser in xacro

Who can give me a simple example my_robot.xacro file that creat a robot which has a laser. I donot knoe how to add a laser and I try to use the .gazebo/models/hoyuko(model),but it is sdf,it maybe ...
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1 answer
1 view

ROS Answers SE migration: URDF and SDF?

Hi All, I've seen a bit of discussion about URDF and SDF here and I thought I'd ask the broad question before I try to learn either of them. I am developing a natural language processor to split these ...
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2 answers
15 views

ROS Answers SE migration: SDF versions

Gazebo version 2.2.6, Indigo Hello, ROS Community! I would like to ask you about SDF versions. Nowadays, I am confused what SDF version is appropriate for running .world files. The question is ...
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1 answer
17 views

Using gazebo_ros_control with SDF instead of URDF

My robot has a closed loop linkage, and therefore I cant use a URDF file as URDF only supports tree strucutres. Since SDF supports graph structures, I need to use that in order to simulate my robot. ...
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1 answer
3 views

Xacro, ruby : SDF parametrization

Hi, I'm looking to control some parameters of my model through the ros launch file. I know that this used to be handle with xacro in urdf file and ruby allow some features in SDF but I not sure how to ...
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3 answers
132 views

SDF to URDF conversion

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 ...
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1 answer
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Where are the screw joints in Indigo?

Hi, I'm trying to use screw joints in indigo, but i'm getting an error saying that 'screw' is an unknown joint type. Thanks Originally posted by hal9000 on ROS Answers with karma: 3 on 2015-03-11 ...
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1 answer
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robot_state_publisher with SDF Files

Hi all, I just want to ask about the support of robot_state_publisher with SDF Files, can we use it to broadcast the state of the robot to the TF Transform Library using SDF Files (not URDF Files). ...
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3 answers
14 views

Creating custom Gazebo world files from sdf's/dae's for use with roslaunch

Hi, I have been trying to figure this out for a couple of days now and am having trouble. Basically I want to create a world file to be launched via roslaunch that is composed of number of model sdf'...
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1 answer
12 views

Why URDF is not deprecated?

Hi all, I am following the tutorials on ROS and gazebo and I am really getting confused as to the current state of URDF and SDF. The overall question is: if SDF supersedes URDF, why is URDF kept? Now ...
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2 answers
5 views

Simulate urban city roads

Hello I wanted to simulate a busy urban road,similar to Darpa Urban Challenge for an autonomous self-driving-car. I'm in search of simulators for that. I've seen gazebo since its integration with ROS ...
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1 answer
2 views

Is URDF depricated? Are there replacement SDF tools?

Since Gazebo is deprecating URDF and moving to SDF, it seems like ROS might follow suit. Is URDF depricated, or about to be? If so are there tools which work with SDF? For instance will ...
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