(20240923).

How To convert ROBOT.urdf.xacro to ROBOT.urdf?

Terminal command to convert the ROBOT.urdf.xacro to ROBOT.urdf (open a terminal inside its folder).

rosrun xacro xacro --inorder -o ./niryo_one.urdf ./niryo_one.urdf.xacro

The above command is used to convert a .xacro file (niryo_one.urdf.xacro) into a URDF file (niryo_one.urdf), using the --inorder option.

Command Breakdown:

• rosrun xacro xacro: Invokes the xacro command using rosrun, which is part of the xacro package in ROS.

• --inorder: Ensures that the processing of macros follows the order in which they appear in the Xacro file. This is recommended for newer Xacro versions and is sometimes necessary to ensure macros are processed correctly, especially in more complex models.

• -o ./niryo_one.urdf: The -o flag specifies the output file (niryo_one.urdf), which will be generated by converting the .xacro file.

• ./niryo_one.urdf.xacro: The input .xacro file, which contains the robot description with macros.

How to generate urdf form xacro

(from dvrk code, dvrk_model/Readme.md, seems no difference with the above command.)

rosrun xacro xacro mtm_right_only.urdf.xacro > mtm_right_only.urdf
rosrun xacro xacro <input.xacro> -o <output.urdf> //(Syntax from ChatGPT)

Command Breakdown:

• rosrun xacro xacro: Runs the xacro command using rosrun to process the .xacro file.
• mtm_right_only.urdf.xacro: The input .xacro file that defines the robot description.
• >: Redirects the output of the command to a file.
• mtm_right_only.urdf: The output file where the URDF is stored.

Note

An example of robot URDF source files can be found here niryo_one_ros.

Created on 2024-09-23.