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SDF Import Plugin

Posted: 06 May 2016, 15:19
by mgdbgj
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.

Re: SDF Import Plugin

Posted: 07 May 2016, 11:26
by coppelia

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.


Re: SDF Import Plugin

Posted: 13 Dec 2016, 21:55
by mgdbgj
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?


Re: SDF Import Plugin

Posted: 15 Dec 2016, 10:00
by fferri
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).