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Ruixiang Du
2020-08-21 17:40:24 +08:00
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```
$ rostopic pub -1 /scout_motor_fl_controller/command std_msgs/Float64 "data: 0.5"
```
Convert xacro to urdf
```
$ rosrun xacro xacro -o model.urdf model.urdf.xacro
```
Generate proto for Webots
```
$ rosrun xacro xacro -o scout_description/urdf/scout_v2.urdf scout_description/urdf/scout_v2_webots.xacro
$ python -m urdf2webots.importer --input=./scout_description/urdf/scout_v2.urdf --output=scout_description/proto/ScoutV2.proto
```
Convert urdf to sdf
```
$ gz sdf -p scout_v2.urdf > scout_v2.sdf
```
Reference:
[1] https://github.com/cyberbotics/urdf2webots