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When there isn't any help from the terminal where you're launching gazebo (set the output to verbose and look there first if you haven't already), I tend to find the most reliable way, albeit a bit tedious, is to comment out or remove parts of the URDF until the model is loaded in gazebo properly. You can do this in a sort of "binary search" way to save time (e.g. comment out the second half of the file, if it works you know the problem is in the second half, if not try the first half, then keep sub-dividing until you find the offending lines).

In your case, just taking a quick look, I think you might want to start by taking a look at the gazebo control plugin at the top of your file. Since you tagged your question with ROS2, I think you will want to use gazebo_ros2_control (which may require you to install relevant packages) instead of gazebo_ros_control (the plugin from ROS1). I have had similar issues with gazebo crashing or resulting in a black screen when plugin imports have gone awry.