I am trying to simulate a snake robot, error: "joint_1 is not in gazebo mode". Please tell me how to make link_1 move freely w.r.to. the origin.
I am trying to simulate a snake robot, I created an .urdf, .yaml, and position control files. In URDF file I have started links from link_1 and given a topic command to each joint. But the link_1 is not moving at all. I tried to create a dummy link and a dummy joint to move link_1 but it is not working. When I created a dummy joint with type='fixed' then it was not giving any error. Since I don't want to fix the link_1, I created a floating joint between dummy_link and link_1. But it was giving an error 'this robot has a joint named "joint_1" which is not in the gazebo mode". Can anyone help me with this. I tried for many hours but it is not working. Please tell me how to make link_1 move freely w.r.to. the origin.
<robot <a="" href="http://xmlns:xacro="http://www.ros.org/wiki/xacro">xmlns:xacro="http://www.ros.org/wiki/..." name="rrr_arm"></robot>
<xacro:property name="link_length" value = "0.14" /> <!--0.14, 0.05, 0.05 -->
<xacro:property name="link_width" value = "0.05" />
<xacro:property name="link_height" value = "0.05" />
<xacro:property name="link_mass" value = "1" />
<xacro:property name="next_link_with_gap" value = "0.10" />
<xacro:property name="next_link_cg_with_gap" value = "0.17" />
<material name="Grey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.2 0.2 1 1"/>
</material>
<xacro:macro name="inertial_box" params="mass x y z *origin">
<inertial>
<xacro:insert_block name="origin"/>
<mass value="${mass}" />
<inertia
ixx = "${(1/12)* mass * (y*y+z*z)}" ixy ="0" ixz ="0"
iyy = "${(1/12)* mass * (x*x+z*z)}" iyz ="0"
izz = "${(1/12)* mass * (x*x+y*y)}" />
</inertial>
</xacro:macro>
<!-- macros for transmission -->
<xacro:macro name="transmission_block" params="joint_name idx">
<transmission name="tran_${idx}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint_name}">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${idx}">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<!--Define Gazebo colors-->
<xacro:macro name="gazebo_grey_link_color_block" params="link_name">
<gazebo reference="${link_name}">
<visual>
<material>
<ambient>0.5 0.5 0.5 1.0</ambient>
<diffuse>0.56666695 0.56666695 0.56666695 1.0</diffuse>
<specular>0.6000003 0.6000003 0.6000003 1.0</specular>
</material>
</visual>
</gazebo>
</xacro:macro>
<!--=============================================================================-->
<link name="link_dummy">
</link>
<gazebo reference="link_dummy">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="link_dummy_joint" type="fixed">
<parent link="link_dummy"/>
<child link="link_1" />
</joint>
<link name="link_1">
<visual>
<origin xyz="${link_length/2} 0 ${link_height/2}" rpy="0 0 0" />
<geometry>
<box size="${link_length} ${link_width} ${link_height}"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin xyz="${link_length/2} 0 ...