file_server.launch missing

[ruanViljoen]

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I have a question!

• [ x] I searched the Wiki, open and closed issues for an answer. I tried my best to find the answer by myself without success. I believe that the discussion we will have in this issue, and the solutions we might find, will help me, and likely other community members who have a similar problem.

Here is my question:
I am trying to import a URDF model into Unity from ROS, but the required file_server.launch file seems to be missing? The link provided gives a 404. https://github.com/siemens/ros-sharp/tree/master/ROS/file_server/launch/file_server.launch

[MartinBischoff]

Hi @ruanViljoen,
there is no file_server.launch.
You can start the file_server node together with rosbridge WebSocket via ros_sharp_communication.launch, i.e.
roslaunch file_server ros_sharp_communication.launch
Please let me know where you found the 404 link above such that we can correct it.

[ruanViljoen]

Thank you, it works now. The link is in the ROS/README.md readme file.

Is there existing functionality in the ros-sharp library to animate the URDF based on incoming /tf messages, or will I have to implement that myself?

[MartinBischoff]

Fixed in commit 3054f88

Concerning your other question please read the Wiki pages GazeboSimulationExample and AnimateRobotModelInUnity3D.
Rather than \tf I'd suggest you update Unity transforms via \joint_states for which corresponding Unity scripts aready exist.