gazebo+URDF文件_gazebo加载urdf文件

Spawn URDF

This tutorial will cover how to spawn a URDF model in Gazebo Sim. URDF files are often used in ROS to represent robot models. While SDF can describe a world with multiple robot models, URDF can only describe one robot model. More information about URDF can be found at urdf - ROS Wiki.

Obtaining a URDF file

This tutorial assumes that the reader already has a URDF file that they'd like to load into Gazebo Sim. If you are looking for a URDF file to use, you can use the rrbot.urdf that was preprocessed for you. The rrbot robot model is from the gazebo_ros_demos package. You could also use one of the examples li