Open newcanopies opened 3 years ago
also, what would be the bash command to run an SDF to URDF conversion?
where does the missing urdf_parser_plugin come from?
It comes from the ros2/urdf
repository. https://github.com/ros2/urdf . It's available in ROS Galactic or ROS Rolling. https://index.ros.org has a search bar for finding packages: https://index.ros.org/p/urdf_parser_plugin/github-ros2-urdf/#galactic
also, what would be the bash command to run an SDF to URDF conversion?
There isn't one, but it may be possible to write one making use of this API: https://github.com/ros/urdfdom/issues/12#issuecomment-284719375 . This repo provides a library and a urdf_parser_plugin
to convert SDFormat XML to URDF C++ DOM structures. That means when you have this package installed, you can give an SDFormat robot description to tools like robot_state_publisher
, and other tools like RViz2 will be able to display that robot description (with some limitations on the materials that can be displayed).
Thanks very much for all of this information,
it prompted me to revisit the sdformat_urdf
package as a potential method to close the current gap between simulation <> control, given that mesh based URDF models cannot be visualized in Gazebo, also related to the background discussion https://github.com/ros/robot_state_publisher/issues/144
Is the way to implement this package:
robot_description
package.xml on sdformat_urdf
?my use case is propagating control from a web-cli to Gazebo using the robot_state_publisher, joint_state_publisher plugins and some move_group yamls. lots of heterogenous systems to interface, and they don't even share a robot description convention.
Thanks for this package, where does the missing
urdf_parser_plugin
come from? It doesn't match any file names in this entire repo. See build error:colcon build --packages-select sdformat_urdf --symlink-install
env