February 2020
Intermediate to advanced
432 pages
10h 50m
English
Content preview from Hands-On ROS for Robotics Programming
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Extending URDF to produce an SDF robot definition
The way to arrive at an SDF specification for your robot is quite straightforward if you start from the URDF definition we saw in the previous chapter.
Always have the SDF format specification at hand (http://sdformat.org/spec) since it offers an interactive tree so that you can navigate through all the tags, allowing you to understand the purpose of each one and how it relates to others. The open source code repository is located at https://bitbucket.org/osrf/sdformat.
To show that SDF extends and does not break URDF specification, here are some simple guidelines that allow you to convert your URDF model into a Gazebo-ready SDF description:
- The minimum required adaptation is to include an ...
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