I'm using ROS and Gazebo and I'm a bit mystified by the URDF to SDF conversion process. It appears that all links except the base_link, and all joints, are not added to the generated SDF file. What I get is a single link with 1 combined inertial section and multiple collision and visual sections. Most of the names are mangled.
I'm writing a plugin that applies force to some joints, and I need to get the joint poses. I see plugin code that enumerates links and joints looking at name matches, but I suppose that this is only possible if I hand-build an SDF file? Is there a preferred way to manage this?
For reference, here's a snippet of my roslaunch file showing how I'm injecting URDF files into Gazebo:
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