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I finally found the solution.

It looks like there is a bug in gazebo 7.0.0 contained in the kinetic debian package repository for ubuntu 16.04. The bug appears when the urdf descriptions contains collision geometry objects with zero value parameters.

For instance in "gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro": we find this chunk of urdf:

<collision>
  <origin xyz="0 0 0" rpy="0 0 0"/>
  <geometry>
    <box size="0 0 0"/>
  </geometry>
</collision>

The box size must not be zero. The error is solved if the above code chunk is replaced by the code chunk below:

<collision>
  <origin xyz="0 0 0" rpy="0 0 0"/>
  <geometry>
    <box size="0.1 0.1 0.1"/>
  </geometry>
</collision>

It is needed to apply this correction in several place in order to make work this demo:

roslaunch $(rospack find gazebo_plugins)/test/multi_robot_scenario/launch/multi_robot_scenario.launch