SDF Import Plugin

Requests or suggestions for new features
mgdbgj
Posts: 7
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.

coppelia
Site Admin
Posts: 5743
Joined: 14 Dec 2012, 00:25

Re: SDF Import Plugin

Postby coppelia » 07 May 2016, 11:26

Hello,

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.

Cheers

mgdbgj
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?

Thanks.

fferri
Posts: 69
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 v_repExtSDF.pro 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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