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Using SDFormat for development after Gz-Garden is installed causes SDFormat install issues

I am trying to understand how to work with the SDFormat (specifically libsdformat-dev) Ubuntu package while also having Gazebo Garden installed locally. Gazebo Garden relies on the package ...
Jack's user avatar
  • 46
1 vote
1 answer
25 views

Need for Gazebo plugins and SDF tutorial

I am just beginning to work with Gazebo. I need to create drones models with autotesting and plugins that will communicate with firmware. Also I plan to use genetic algorithm for AI based drones ...
Oleksandr N.'s user avatar
1 vote
0 answers
36 views

Gazebo SDF UAV model bug

I am trying to make transwing UAV model to be simulated into Gazebo with ROS2, I used phobos plugin in blender to do such a thing, the Blender version I used is 3.3, I am using gazebo 11, with ros2 ...
Hasan Shadi's user avatar
1 vote
2 answers
52 views

What is the best practice to use dynamic names/variables in the sdf files? [closed]

NOTE: This is an open discussion and might not have a particular answer or can have multiple answers. Hello, I was trying to do a multi-robot simulation using ROS 2 humble and GZ-harmonic. I want to ...
aarsht7's user avatar
  • 113
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0 answers
17 views

If I apply the 3D graphics acceleration on a virtual PC, then I can not get the correct Gazebo display with robot, only an empty world. Why?

If I apply the 3D graphic acceleration, then I can start Gazebo correctly with a robot or object displayed in the world. If I do not apply the 3D graphics acceleration, then I can use a command like <...
xinfengxia's user avatar
0 votes
1 answer
85 views

Adding FT Sensor to UR5e Gazebo Classic 11 (22.04 ROS2 Humble)

ROS2 Humble | Gazebo Classic 11 | Ubuntu 22.04 Attempting to add a force-torque sensor & plugin to the URDF of a UR5e results in the following launch error, despite the sensor being present in ...
L Wall's user avatar
  • 1
0 votes
1 answer
30 views

URDF vs SDF benifits?

Turtlebo3_waffle and Turtlebot3_burger uses SDF for simulation in Gazebo and URDF for publishing TF and visualizing in RVIZ. Is there any particular reason for doing so?
Biplab Bag's user avatar
0 votes
1 answer
12 views

Restrictions of multiple links per model

If i have a model with two links, one containing a visual and the other containing the collider, the colliders won't be considered, and it will fall through everything. Modified model from the shapes....
azazdeaz's user avatar
0 votes
1 answer
167 views

Fail to load Mesh with STL on Gazebo

I try to load my robot sdf file. But Gazebo cannot load my stl mesh and give these errors ...
Uchiwuwu's user avatar
0 votes
1 answer
23 views

Question about uri reading urdf in fortress

I have problem with reading my robot URDF file with gazebo. In my worlds.sdf, I put ...
Uchiwuwu's user avatar
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0 answers
21 views

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. ...
Paolo's user avatar
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0 answers
20 views

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
  • 11
0 votes
0 answers
40 views

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
  • 1
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0 answers
26 views

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
  • 3
0 votes
1 answer
63 views

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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0 answers
14 views

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
  • 51
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0 answers
32 views

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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0 answers
68 views

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
0 votes
0 answers
49 views

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
  • 11
0 votes
1 answer
377 views

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
  • 1
0 votes
1 answer
359 views

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
  • 13
0 votes
1 answer
161 views

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
0 votes
0 answers
72 views

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
0 votes
3 answers
253 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
  • 31
0 votes
1 answer
155 views

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
0 votes
1 answer
119 views

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: ...
user avatar
0 votes
1 answer
120 views

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 ...
user avatar
0 votes
1 answer
5 views

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? ...
user avatar
0 votes
1 answer
17 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. ...
user avatar
0 votes
1 answer
187 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 : ...
user avatar
0 votes
1 answer
5 views

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: ...
user avatar
0 votes
1 answer
133 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-...
user avatar
0 votes
1 answer
151 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 ...
user avatar
0 votes
1 answer
8 views

could not open world file

world file ...
user avatar
0 votes
1 answer
13 views

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 ...
user avatar
0 votes
1 answer
10 views

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 ...
user avatar
0 votes
1 answer
353 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 ...
user avatar
0 votes
1 answer
13 views

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 ...
user avatar
0 votes
1 answer
8 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. ( ...
user avatar
0 votes
1 answer
51 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 ...
user avatar
0 votes
1 answer
11 views

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 ...
user avatar
0 votes
1 answer
4 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 ...
user avatar
0 votes
1 answer
6 views

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 ...
user avatar
0 votes
1 answer
3 views

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 ...
user avatar
0 votes
3 answers
79 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 (...
user avatar
0 votes
1 answer
14 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 ...
user avatar
0 votes
1 answer
59 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, ...
user avatar
0 votes
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 ...
user avatar
0 votes
1 answer
3 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 ...
user avatar
0 votes
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 ...
user avatar