I’d like to know how to load an environment to DART and visualize it. I’m already parsing a robot skeleton, controlling it and visualizing the motion so I just want to add an environment around it. I’m trying in this way
auto moon = urdfLoader.parseWorld("/home/filippo/BackUp_Ubuntu16/UNIV/intrinsically_stable_moonwalk_ENHANCED/apollo15_landing_site_1000x1000/model-1_4.sdf");
but it gives me the warning
Warning [urdf_world_parser.cpp:79] [parseWorldURDF] ERROR: Could not find a element in XML, exiting and not loading!
Warning [DartLoader.cpp:156] [DartLoader::parseWorldString] Failed loading URDF.
which clearly depends on the fact that I’m trying to upload a SDF file.
I’ve also tried with
but the code doesn’t compile since it tells me that it is deprecated. Is there a way to do this, could you help me or link me an example?
Thank you very much