Using URDF or Xacro

A tool that allows conversion from URDF or Xacro format is shipped with the webots_ros2 package. You can benefit from the tool to import by importing premade robot models to Webots.

URDF Import

In this example, we will convert the UR5e robot model available to /webots_ros2_ur_e_description/urdf/ur5e_robot.urdf to PROTO file that is compatible to Webots:

ros2 run webots_ros2_importer urdf2proto \
  --input=$(ros2 pkg prefix webots_ros2_ur_e_description --share)/urdf/ur5e_robot.urdf \
  --disable-mesh-optimization \
  --output=ur5e_robot.proto

Your PROTO file ur5e_robot.proto should be available and you can include it in the Webots project by placing it under /protos of your ROS2 package.

Xacro Import

Similar to URDF, you can use xacro2proto convert to Xacro files to Webots compatible PROTO files.

ros2 run webots_ros2_importer xacro2proto \
  --input=path_to_xacro.xacro \
  --disable-mesh-optimization \
  --output=path_to_proto.proto