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Gazebo references - multiple physics engine's possible?

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Hey there, I would like to use ROS and urdf to simulate my robot. (I do not want to use any sdf files). However I have a given sdf file and now try to convert it to urdf. Now my problem is that in the sdf file there are multiple physics engines used ( ode and bullet). Does anyone know how to convert that to urdf? Cause according to this http://gazebosim.org/tutorials/?tut=ros_urdf Tutorial (under Elements For Links) There is only a very limited table of what is possible to add in gazebo references. This is a snippet of my sdf file I would like to convert to urdf: 0100 0 0 0 -0 0model://ballbot/meshs/body.stl0.001 0.001 0.001000 0 0001001001e+0601100.21e+1310.0101-0.0100.21e+131 I currently did it like this: Gazebo/DarkGrey10.0100.00.00 0 01e+131.00100

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