urdf-packager

A small util to turn a robot model into a single self-contained archive.

Use

Env setup

Create a workspace and clone the project containing the robot model,

mkdir -p ~/workspace/src
cd ~/workspace/src
git clone https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git

Install the dependencies,

source /opt/ros/*/setup.bash
rosdep install --from-path . -y -i

apt install python3-pip
python3 -m pip install resolve_robotics_uri_py xacro

Convert XACRO to SDF

xacro -o output.sdf path/to/input.sdf.xacro

xacro -o /tmp/gz_waffle.sdf ~/workspace/src/nav2_minimal_turtlebot_simulation/nav2_minimal_tb3_sim/urdf/gz_waffle.sdf.xacro

Make it self-contained

python3 main.py path/to/output.sdf -p path/to/original/package/source

python3 main.py /tmp/gz_waffle.sdf -p ~/workspace/src/nav2_minimal_turtlebot_simulation

This creates the model.tar.gz archive in the ./ folder.