Matlab importrobot(.xacro)?

Hello, I'm currently trying to install a Niryo Ned 2 robot on Matlab.

Therefore I use the ROS toolbox and the Robotic Systems Toolbox.

According to the documentation of the Niryo (https://docs.niryo.com/applications/ned/v1.0.4/en/source/tutorials/Use_ned_with_matlab.html),

I tried the following command to import the .urdf-file:

ned=importrobot(ned.urdf);

which doesn't work.

My file is under C:\Ned2-Pakete\ned_ros\niryo_robot_description\urdf\ned2 as niryo_ned2.urdf.xacro

Is there a possibilty to convert the .xacro in .urdf or import the .xacro file with importrobot()?

Kind Regards

Jonas

Answer 1

[Gaurav Bhosale]

Hi Jonas,

We support Xacro import from MATLAB R2023a with importrobot.

If you have older MATLAB version then you first need to convert Xacro to URDF file with following command ( refer this Example ) and then use importrobot with URDF

rosrun xacro xacro --inorder -o niryo_ned2.urdf niryo_ned2.urdf.xacro

Thanks