Parser does not handle URDF material gazebo extensions

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Issue #132 new
Parker Lusk created an issue

Using Gazebo 7.4.0 and ROS Kinetic, my URDF files that have gazebo extensions like

<gazebo reference="chassis">
  <material>Gazebo/DarkGrey</material>
</gazebo>

do not convert to SDF 1.6 correctly. This seems to be a bug in the parser_urdf.cc. This can be recreated by running gz sdf -p model.urdf and noting that the material tag is not present.

Perhaps related to osrf/gazebo issue #2103.

Comments (1)

  1. Parker Lusk reporter

    It turns out that my visual tag in my URDF (model.urdf) had a name attribute that throws off the parser. Maybe this is still a bug, or perhaps by design:

    <visual name="visual">
      <origin rpy="0 0 0" xyz="0 0 0.0825"/>
      <geometry>
        <box size="1 1 1" />
      </geometry>
    </visual>
    

    Colors work by removing the attribute:

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0825"/>
      <geometry>
        <box size="1 1 1" />
      </geometry>
    </visual>
    
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