CoppeliaSim forums

Hi there,

I want to import the urdf model of turtlebot into v-rep.
The conversion from xacro to urdf works and no error were reported by the check_urdf command, however, a few errors occur during import. Specifically with the sensors, see excerpt below.

There are 6 sensors.
ERROR: sensor will not be created: the URDF specification is supported, but this is a Gazebo tag which is not documented as it seems.
...

You can generate the urdf model by instaling the turtlebot on your workstation as indicated in point "4.2 Workspaces" on the link below.
http://wiki.ros.org/turtlebot/Tutorials ... stallation
Link or copy the folder "kobuki_description" into the folder "turtlebot_description"
then you can generate the urdf model by executing the command below, make sure the generated urdf model is stored in the folder
"turtlebot_description/robots/"
being in the folder turtlebot_description/robots/ execute

rosrun xacro xacro.py kobuki_hexagons_asus_xtion_pro.urdf.xacro -o kobuki_hexagons_asus_xtion_pro.urdf

Then check the correctness of the model

check_urdf kobuki_hexagons_asus_xtion_pro.urdf

import the model in v-rep

Using:
V-REP_PRO_EDU_V3_1_3_rev2b_64_Linux
Ubuntu 14.04 64bit
ROS Indigo

Thank you in advance.

Hello,

the URDF that is supported in V-REP is the official URDF, which doesn't specify certain tags used in other simulators.

Cheers