xacro to urdf

[RafaelBrunet]

Hi,

I need to convert the xacro file to a urdf. Is there a way to run this command below to convert the file to a urdf?

ros2 run xacro xacro ur.urdf.xacro > ur10e.urdf

Thanks in advance for your help.

[danzimmerman]

Yes, but you need to add ur_type and, apparently, name, like

ros2 run xacro xacro ur.urdf.xacro ur_type:=ur10e name:=some_robot_name > ur10e.urdf

You can probably just invoke xacro directly like:

xacro ur.urdf.xacro ur_type:=ur10e name:=some_robot_name > ur10e.urdf