Forums Niryo One Programming Niryo One ROS# Reply To: ROS#

Anthony
Participant
Post count: 10

I used those two link to convert xacro file into urdf file by writing command line in the niryo terminal.

http://answers.ros.org/question/10401/how-to-convert-xacro-file-to-urdf-file/

http://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File

A urdf file is created in the root.

Following the tutorial provided by Siemens, I imported Niryo in Unity.

I’m still facing an issue about importing link. Indeed, once the robot is imported, I have got a error about the creation of the link according to the console :

“No Joint Component will be created in GameObject “tool_link” as it has no Rigidbody Component.
Please define an Inertial for Link “tool_link” in the URDF file to create a Rigidbody Component.”

In order to face this issue I have to master Urdf file…

@Edouart do you have an idea about defining inertial for links in the urdf file of Niryo?

Thks for helping!