Wheel link is not modeled as a cylinder or sphere
Hello everyone, So i am having this error
[ERROR] [1689583588.994400924, 0.150000000]: Wheel link front_left_wheel is NOT modeled as a cylinder or sphere!
[ERROR] [1689583588.994569868, 0.150000000]: Couldn't retrieve front_left_wheel_joint wheel radius
[ERROR] [1689583588.994729367, 0.150000000]: Failed to initialize the controller
[ERROR] [1689583588.995644288, 0.150000000]: Initializing controller 'my_rover_diff_drive_controller' failed
[ERROR] [1689583590.002104, 0.353000]: Failed to load my_rover_diff_drive_controller
when i run the launch file.... the wheel part is i added a mesh file instead of cylinder or sphere. the diff_drive_controller part i don't have any idea about why that error showing... I will attach my files below for your reference...
rover.urdf
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_rover">
<xacro:property name="constant" value = "0.083333333"/> #1/12
<xacro:property name="mass" value = "0.5"/>
<xacro:property name="width" value = "0.75"/>
<xacro:property name="height" value = "0.15"/>
<xacro:property name="depth" value = "0.4"/>
<xacro:property name="radius" value = "0.033"/>
<xacro:property name="length" value = "0.018"/>
<!-- rover base link -->
<link name="world"/>
<joint name="Chassis_joint" type="fixed">
<parent link="world"/>
<child link="Chassis"/>
<origin xyz="0.0 0.0 0.135" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 0.0 0.0"/>
</joint>
<link name="Chassis">
<inertial>
<mass value="0.5"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<inertia ixx="0.007601" ixy="0.0" ixz="0.0"
iyy="0.03009" iyz="0.0"
izz="0.024365"/>
</inertial>
<visual>
<geometry>
<box size="0.75 0.4 0.15" />
</geometry>
<material name="">
<color rgba="1.0 0.3 0.1 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.75 0.4 0.15" />
</geometry>
</collision>
</link>
<gazebo reference = "Chassis">
<material> Gazebo/Orange </material>
</gazebo>
<!-- camera/sensor mount -->
<joint name="mount_joint" type="fixed">
<parent link="Chassis"/>
<child link="mount_link"/>
<origin xyz="0.2 0.0 0.124" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 0.0 0.0"/>
</joint>
<link name="mount_link">
<inertial>
<mass value="0.0"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0"
iyy="0.0" iyz="0.0"
izz="0.0" />
</inertial>
<visual>
<geometry>
<cylinder radius="0.08" length="0.1"/>
</geometry>
<material name="">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder ...
I changed the wheel tag like this
it solved both the issue. But i face this issue in robot model in rviz for the world status like this "No transform [world] to [odom]". the bot is moving in rviz when i change the rqt_steering console, but the bot don't move in gazebo(wheels are running). And the generated view_frames.pdf file don't have world frame even tho i gave the link in urdf file.
Hi!
Glad you solved! Please post the solution to the original issue as an answer instead of a comment. Then open a new question for the new issue you have found.