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jsk-ros-pkg / jsk_model_tools

JSK model utilities
https://github.com/jsk-ros-pkg/jsk_model_tools
BSD 3-Clause "New" or "Revised" License
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[eusurdf] generate urdf.xacro for model / scene #193

Closed furushchev closed 7 years ago

furushchev commented 7 years ago

automatically generates urdf.xacro file for eus scene.

sample: https://gist.github.com/f55fb768af9d73ad903fe1cdd94bb8b4

You can generate one urdf file for each scene and spawn with rosrun gazebo_ros spawn_model to gazebo.

<launch>
  <!-- spawn /home/furushchev/ros/bremen/catkin_ws/src/jsk_model_tools/eusurdf/worlds/room73b2.urdf.xacro to gazebo -->
  <arg name="model" default="/home/furushchev/ros/bremen/catkin_ws/src/jsk_model_tools/eusurdf/worlds/room73b2.urdf.xacro"/>
  <param name="room73b2_description" command="$(find xacro)/xacro.py '$(arg model)'"/>
  <node name="spawn_room73b2" pkg="gazebo_ros" type="spawn_model"
        args="-param room73b2_description -urdf -model room73b2"/>
</launch>
furushchev commented 7 years ago

@k-okada kindly ping to maintainer