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 | 1 | initial version |
hello, @Weasfas yes,I tried your method and got the same error like below:
Warning [parser.cc:950] XML Element[plugin], child of element[link] not defined in SDF. Ignoring[plugin]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
But I find the solution first you can refer to link:original author solution second,the reason to your warning is that this block below
<material> <ambient>0 0 0 1</ambient> <diffuse>0 0 0 1</diffuse> <specular>0 0 0 1</specular> <emissive>0 1 0 1</emissive> </material>
can not be include in link tag ,because they are SDF format,which will not be recognize by xacro. The solution is
<gazebo reference="led_link_0"> <visual> <material> <ambient>0 0 0 1</ambient> <diffuse>0 0 0 1</diffuse> <specular>0 0 0 1</specular> <emissive>0 1 0 1</emissive> </material> </visual> </gazebo>
only give "material" in gazebo tag with reference name(your link)
Third,I can not add flashlight by adding libFlashLightPlugin.so,However, below is my code for constant white light and colored emissive link
<joint name="${robot_namespace}/led_joint_0" type="fixed"> <origin xyz="0 0 0" rpy="0 0 0"/> <parent link="${robot_namespace}/base_link"/> <child link="led_link_0"/> </joint>
<link name="led_link_0">
<visual>
<origin xyz="0.17 0 -0.1" rpy="0 0 0" />
<geometry>
<cylinder radius="0.01" length="0.05"/>
</geometry>
</visual>
</link><!--it is useless to define light tag here, it helps to define light tag in gazebo tag below-->
<gazebo reference="${robot_namespace}/led_link_0">
<visual>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 1 0 1</emissive>
</material>
</visual>
<light name ='${robot_namespace}/led_link_0/led' type = 'point'>
<pose>-0.025 0 0.5 0 0 0</pose><!--you can place light position here ,and it is useless to give position in link-->
</light>
<plugin name='light_control' filename='libFlashLightPlugin.so'>
<enable>true</enable>
<light>
<id>${robot_namespace}/led_link_0/led</id>
<duration>0.3</duration>
<interval>0.4</interval>
<color>0.1 1 0.1</color>
<enable>true</enable>
</light>
</plugin>
</gazebo>
Forth, if you want a emissive link and constant white light, above is a solution.another approach to make your link lighted is adding below tag outside of link tag
<gazebo reference="led_link_0">
<material>Gazebo/GreenGlow</material>
</gazebo>
| | 2 | No.2 Revision |
hello, @Weasfas yes,I tried your method and got the same error like below:
Warning [parser.cc:950] XML Element[plugin], child of element[link] not defined in SDF. Ignoring[plugin]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
But I find the solution first you can refer to link:original author solution second,the reason to your warning is that this block below
<material> <ambient>0 0 0 1</ambient> <diffuse>0 0 0 1</diffuse> <specular>0 0 0 1</specular> <emissive>0 1 0 1</emissive> </material>
can not be include in link tag ,because they are SDF format,which will not be recognize by xacro.
The the solution is is
<gazebo reference="led_link_0"> <visual> <material> <ambient>0 0 0 1</ambient> <diffuse>0 0 0 1</diffuse> <specular>0 0 0 1</specular> <emissive>0 1 0 1</emissive> </material> </visual> </gazebo>
only give "material" in gazebo tag with reference name(your link)
Third,I can not add flashlight by adding libFlashLightPlugin.so,However, below is my code for constant white light and colored emissive link
<joint name="${robot_namespace}/led_joint_0" type="fixed"> <origin xyz="0 0 0" rpy="0 0 0"/> <parent link="${robot_namespace}/base_link"/> <child link="led_link_0"/> </joint>
<link name="led_link_0">
<visual>
<origin xyz="0.17 0 -0.1" rpy="0 0 0" />
<geometry>
<cylinder radius="0.01" length="0.05"/>
</geometry>
</visual>
</link><!--it is useless to define light tag here, it helps to define light tag in gazebo tag below-->
<gazebo reference="${robot_namespace}/led_link_0">
<visual>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 1 0 1</emissive>
</material>
</visual>
<light name ='${robot_namespace}/led_link_0/led' type = 'point'>
<pose>-0.025 0 0.5 0 0 0</pose><!--you can place light position here ,and it is useless to give position in link-->
</light>
<plugin name='light_control' filename='libFlashLightPlugin.so'>
<enable>true</enable>
<light>
<id>${robot_namespace}/led_link_0/led</id>
<duration>0.3</duration>
<interval>0.4</interval>
<color>0.1 1 0.1</color>
<enable>true</enable>
</light>
</plugin>
</gazebo>
Forth, if you want a emissive link and constant white light, above is a solution.another approach to make your link lighted is adding below tag outside of link tag
<gazebo reference="led_link_0">
<material>Gazebo/GreenGlow</material>
</gazebo>
| | 3 | No.3 Revision |
hello, @Weasfas yes,I tried your method and got the same error like below:
Warning [parser.cc:950] XML Element[plugin], child of element[link] not defined in SDF. Ignoring[plugin]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
But I find the solution first you can refer to link:original author solution second,the reason to your warning is that this block below
<material> <ambient>0 0 0 1</ambient> <diffuse>0 0 0 1</diffuse> <specular>0 0 0 1</specular> <emissive>0 1 0 1</emissive> </material>
can not be include in link tag ,because they are SDF format,which will not be recognize by xacro. the solution is
<gazebo reference="led_link_0"> <visual> <material> <ambient>0 0 0 1</ambient> <diffuse>0 0 0 1</diffuse> <specular>0 0 0 1</specular> <emissive>0 1 0 1</emissive> </material> </visual> </gazebo>
only give "material" in gazebo tag with reference name(your link)
Third,I can not add flashlight by adding libFlashLightPlugin.so,However, below is my code for constant white light and colored emissive link
<joint name="${robot_namespace}/led_joint_0" type="fixed"> <origin xyz="0 0 0" rpy="0 0 0"/> <parent link="${robot_namespace}/base_link"/> <child link="led_link_0"/> </joint>
<link name="led_link_0">
<visual>
<origin xyz="0.17 0 -0.1" rpy="0 0 0" />
<geometry>
<cylinder radius="0.01" length="0.05"/>
</geometry>
</visual>
</link><!--it is useless to define light tag here, it helps to define light tag in gazebo tag below-->
<gazebo reference="${robot_namespace}/led_link_0">
<visual>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 1 0 1</emissive>
</material>
</visual>
<light name ='${robot_namespace}/led_link_0/led' type = 'point'>
<pose>-0.025 0 0.5 0 0 0</pose><!--you can place light position here ,and it is useless to give position in link-->
</light>
<plugin name='light_control' filename='libFlashLightPlugin.so'>
<enable>true</enable>
<light>
<id>${robot_namespace}/led_link_0/led</id>
<duration>0.3</duration>
<interval>0.4</interval>
<color>0.1 1 0.1</color>
<enable>true</enable>
</light>
</plugin>
</gazebo>
Forth, if you want a emissive link and constant white light, above is a solution.another approach to make your link lighted is adding below tag outside of link tag
<gazebo reference="led_link_0">
<material>Gazebo/GreenGlow</material>
</gazebo>
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