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If you cannot wait for Ugo to fix this, here are the 2 modifications we used to start the simulator (They may not solve your problem completely):

  • in sr_hand/launch/gazebo/empty.world commenting out :

  • in sr_hand/launch/change this line :

    <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-param robot_description -urdf -model shadowhand_motor" respawn="false" output="screen"/>

If you cannot wait for Ugo to fix this, here are the 2 modifications we used to start the simulator (They may not solve your problem completely):

  • in sr_hand/launch/gazebo/empty.world commenting out :

  • in sr_hand/launch/change this line :

    <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-param robot_description -urdf -model shadowhand_motor" respawn="false" output="screen"/>

If you cannot wait for Ugo to fix this, here are the 2 modifications we used to start the simulator (They may not solve your problem completely):

  • in sr_hand/launch/gazebo/empty.world commenting out :

<!-- <controller:gazebo_ros_factory name="gazebo_ros_factory" plugin="libgazebo_ros_factory.so">
          <alwaysOn>true</alwayson>
          <updateRate>1.0</updaterate>
          <interface:audio name="dummy_gazebo_ros_factory_iface_should_not_be_here"/>
        </controller:gazebo_ros_factory> -->
  • in sr_hand/launch/change this line :

<!-- spawn the arm model -->
 <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_hand)/model/robots/xacro/shadowhand_motor.urdf.xacro'" />
 <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-param robot_description -urdf -model shadowhand_motor" respawn="false" output="screen"/>

output="screen" />