Problems visualizing robotmodel and tf's of urdf model in rviz [closed]
Hi! I have build my own robot on sketchup, created an urdf file for it with plugins for the laser (libgazebo_ros_laser.so) and for the odometry (libgazebo_ros_p3d.so) and i'm simulating an navigation with it in gazebo. Until here it's almost 100% correct...
I run rviz to visualize what is happening with the sensors, tf's, etc... I just run rviz in command line and then i add what i need in the left bar (tf's, LaserScan, RobotModel and map).
Problems:
1 - i can't see correctly the tf's of my robot that are "continuous";
2 - i can't see the robot model
I think i' having this problem due to the type of the joints that are "continuous", but i have to use this for the odometry plugin for gazebo. Maybe is some problem on the joint_state_publisher, i don't know.
Do i have to create any kind of a launch file to launch rviz with joint_state_publisher too, just like for gazebo?
And why can't i see the RobotModel in rviz for my model, even if the joints are fixed? Maybe because it was designed in Sketchup?
Here is my model in urdf.
<robot name="guide_robot">
<!--Links -->
<link name="base_footprint"/>
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://navigation_robot/meshes/guide_robot.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://navigation_robot/meshes/guide_robot.dae"/>
</geometry>
</collision>
<inertial>
<mass value="15.0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1.7" ixy="0" ixz="0" iyy="0.9" iyz="0" izz="1.7" />
</inertial>
</link>
<link name="left_wheel_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://navigation_robot/meshes/left_wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963 0 0" xyz="0 0.055 0"/>
<geometry>
<cylinder length="0.02" radius="0.08"/>
</geometry>
</collision>
<inertial>
<mass value="2.0"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.003266" ixy="0.0" ixz="0.0" iyy="0.003266" iyz="0.0" izz="0.00064"/>
</inertial>
</link>
<link name="right_wheel_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://navigation_robot/meshes/right_wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.5707963 0 0" xyz="0 -0.055 0"/>
<geometry>
<cylinder length="0.02" radius="0.08"/>
</geometry>
</collision>
<inertial>
<mass value="1.0"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.003266" ixy="0.0" ixz="0.0" iyy="0.003266" iyz="0.0" izz="0.00064"/>
</inertial>
</link>
<link name="caster_support_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://navigation_robot/meshes/caster_support.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://navigation_robot/meshes/caster_support.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.181436948"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.0109375" ixy="0.0" ixz="0.0" iyy="0.021125" iyz="0.0" izz="0 ...
Could you provide your robot model? Maybe this helps to reproduce your issue.
here it is...
Any errors or warnings on the terminal when you run rviz?
no, there are no errors... even in gazebo i got no errors