SDF Import Plugin

Requests or suggestions for new features
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Joined: 08 Sep 2014, 22:44

SDF Import Plugin

Postby mgdbgj » 06 May 2016, 15:19

Since Gazebo is "abandoning" URDF in favor of SDF, ROS is likely to eventually follow suit. I think a SDF Import Plugin or at least SDF to URDF translator, would benefit the community.

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Re: SDF Import Plugin

Postby coppelia » 07 May 2016, 11:26


yes, perfectly agree. This should be done for release 3.3.2 hopefully. Beta version of release 3.3.1 should be out in 2-4 days.


Posts: 7
Joined: 08 Sep 2014, 22:44

Re: SDF Import Plugin

Postby mgdbgj » 13 Dec 2016, 21:55

It's not clear how SDF importer handles imports and it is not clear how to monitor its progress or check for the errors, for example, when I imported the model that works in Gazebo 7:

- Even though the Convex decompose option was checked in the importer, neither of the collision links was morphed into a convex shape. At no point, convex decomposition dialog was shown.

- The inertial information does not seem to be imported and none the collision links are marked as respondable .

Is there a log I'm missing? Or is there documentation that states which SDF tags are being imported?


Posts: 92
Joined: 09 Sep 2013, 19:28

Re: SDF Import Plugin

Postby fferri » 15 Dec 2016, 10:00

You can see a sort of log of import operations by recompiling the plugin with debug information (i.e. qmake followed by make debug).

The convex decomposition dialog option is not currently used.

The inertial information is actually imported (check v_repExtSDF.cpp line 758).

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