Hi,

Can someone help me please?

My URDF file have three revolute joints (rudderjoint, sailjoint, tail_joint) with origin defined:

<?xml version="1.0"?>

<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="scale" value="1"/>

<!--_______________________-->
<!--________ HULL _________-->
<!--_______________________-->
<link name="sailboat/base_link">
    <visual>
        <origin xyz="-0.79 0 0.26" rpy="0 0 0" />
        <geometry>
            <!--mesh filename="package://sailboat_description/models/meshes/hull_material.dae" scale="${scale} ${scale} ${scale}"/-->
            <mesh filename="package://sailboat_description/models/meshes/hull_material.dae" scale="${scale} ${scale} ${scale}"/>
        </geometry>
    </visual>

    <collision name="collision">
        <origin xyz="-0.79 0 0.26" rpy="0 0 0"/>
        <geometry>
            <mesh filename="package://sailboat_description/models/meshes/hull_origin.STL" scale="${scale} ${scale} ${scale}"/>
        </geometry>
    </collision>

    <!-- Mass is calculated based on an estimate of draft, the effective length and the cross-section of
    a circle segment. The value for the draft is consistent specifications of similar vessels.  Moments of inertia are based on an effective cylindrical model-->
    <inertial>
        <mass value="184.04"/>
        <inertia ixx="5.99" ixy="0.0" ixz="0.0" iyy="230.06" iyz="0.0" izz="235.86"/>
        <origin xyz="-0.79 0 0.26" rpy="0 0 0"/>
    </inertial>
</link>


<!--_______________________-->
<!--_______ RUDDER ________-->
<!--_______________________-->
<link name="sailboat/rudder_link">
    <visual name="visual">
        <geometry>
            <!--mesh filename="package://sailboat_description/models/meshes/leme_material.dae" scale="${scale} ${scale} ${scale}"/-->
            <mesh filename="package://sailboat_description/models/meshes/leme_material.dae" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </visual>

    <collision name="collision">
        <geometry>
            <mesh filename="package://sailboat_description/models/meshes/leme_origin.STL" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </collision>

    <inertial>
        <mass value="1.39" />
        <inertia ixx="0.03" ixy="0.0" iyy="0.03" ixz="0.0" iyz="0.0" izz="0.01" />
        <!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </inertial>
</link>

<joint name="sailboat/rudder_joint" type="revolute">
    <parent link="sailboat/base_link"/>
    <child link="sailboat/rudder_link"/>
    <origin xyz="-1.57 0 -0.21" rpy="0 0 0"/>
    <dynamics damping="1.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" velocity="5" lower="-${PI/2}" upper="${PI/2}" />
</joint>


<!--_______________________-->
<!--________ KEEL _________-->
<!--_______________________-->
<link name="sailboat/keel_link">
    <visual name="visual">
        <geometry>
            <!--mesh filename="package://sailboat_description/models/meshes/keel_material.dae" scale="${scale} ${scale} ${scale}"/-->
            <mesh filename="package://sailboat_description/models/meshes/keel_material.dae" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="0.54 0 -0.91" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </visual>

    <collision name="collision">
        <geometry>
            <mesh filename="package://sailboat_description/models/meshes/keel_origin.STL" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="0.54 0 -0.91" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </collision>

    <inertial>
        <mass value="211.39" />
        <inertia ixx="34.28" ixy="0.0" iyy="44.11" ixz="0.0" iyz="0.0" izz="10.65"/>
        <!--origin xyz="0.54 0 -0.91" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </inertial>
</link>

<!--joint name="sailboat/keel_joint" type="fixed">
    <parent link="sailboat/base_link"/>
    <child link="sailboat/keel_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <dynamics damping="1.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="30" velocity="5" lower="0" upper="0" />
</joint-->

<joint name="sailboat/keel_joint" type="fixed">
    <parent link="sailboat/base_link"/>
    <child link="sailboat/keel_link"/>
    <origin xyz="0.54 0 -0.91" rpy="0 0 0"/>
</joint>


<!--_______________________-->
<!--________ SAIL _________-->
<!--_______________________-->
<link name="sailboat/sail_link">
    <visual name="visual">
        <geometry>
            <!--mesh filename="package://sailboat_description/models/meshes/wingsail_material.dae" scale="${scale} ${scale} ${scale}"/-->
            <mesh filename="package://sailboat_description/models/meshes/wingsail_material.dae" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="0.47 0 1.3" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </visual>

    <collision name="collision">
        <geometry>
            <mesh filename="package://sailboat_description/models/meshes/wingsail_origin.STL" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="0.47 0 1.3" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </collision>

    <inertial>
        <mass value="97.27" />
        <inertia ixx="32.57" ixy="0.0" iyy="46.70" ixz="0.0" iyz="0.0" izz="14.61"/>
        <!--origin rpy="0.47 0 1.3" xyz="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </inertial>
</link>

<joint name="sailboat/sail_joint" type="revolute">
    <parent link="sailboat/base_link"/>
    <child link="sailboat/sail_link"/>
    <origin xyz="0.47 0 1.3" rpy="0 0 0"/>
    <dynamics damping="0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" velocity="70" lower="-${PI}" upper="${PI}" />
</joint>


<!--_______________________-->
<!--________ TAIL _________-->
<!--_______________________-->
<link name="sailboat/tail_link">
    <visual name="visual">
        <geometry>
            <!--mesh filename="package://sailboat_description/models/meshes/tail_material.dae" scale="${scale} ${scale} ${scale}"/-->
            <mesh filename="package://sailboat_description/models/meshes/tail_material.dae" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="-1.48 0 0.13" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </visual>

    <collision name="collision">
        <geometry>
            <mesh filename="package://sailboat_description/models/meshes/tail_origin.STL" scale="${scale} ${scale} ${scale}"/>
        </geometry>
        <!--origin xyz="-1.48 0 0.13" rpy="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </collision>

    <inertial>
        <mass value="11.69" />
        <inertia ixx="0.49" ixy="0.0" iyy="0.69" ixz="0.0" iyz="0.0" izz="0.2"/>
        <!--origin rpy="-1.48 0 0.13" xyz="0 0 0"/-->
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </inertial>
</link>

<joint name="sailboat/tail_joint" type="revolute">
    <origin xyz="-1.48 0 0.13" rpy="0 0 0"/>
    <parent link="sailboat/sail_link"/>
    <child link="sailboat/tail_link"/>
    <dynamics damping="0"/>
    <axis xyz="0 0 1"/>
    <limit effort="10000" velocity="0" lower="-${PI}" upper="${PI}" />
</joint>

In RViz the joints origin position are correct as you can see on this image, but in Gazebo joints don't move (image1, image2). Happens only with revolute and continuous joints. If type are fixed the joint and link go to correct place.

How should I set the origin of the revolute joints? To be correct in Gazebo and the RVIz?

Please help! Thank you