![]() ![]() On both situations, the model:// prefix will be substituted by /home/username/models. It's possible to use URLs of resources on Ignition Fuel within any of the tags above and both simulators will be able to load it.įor example, this world can be loaded into both simulators:Įxport IGN_GAZEBO_RESOURCE_PATH=/home/username/modelsĪnd inside world.sdf include the model with:Īlso, model.sdf can refer to mesh.dae as: ![]() Here are the recommended ways to use URIs from most recommended to least: Ignition Fuel URL These are some of the SDF tags that take URIs: SDF files use URIs to refer to resources from other files, such as meshes and nested models. The minimum required versions to use this guide are: It will also explain when you'll need to use separate files for each simulator. This tutorial will explain how to write SDF files in a way that they're as reusable by both simulators as possible. An SDF file defines the world environment, the robot's characteristics and what plugins to load.ĭespite using the same description format, users will note that the same SDF file may behave differently for each simulator. ![]() Both Gazebo classic and Ignition Gazebo support SDF files to describe the simulation to be loaded. ![]()
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March 2023
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