Why robot strangely action in gazebo world?
i wrote URDF.xacro file and showed robot in gazebo world but Big wheels rotate continuously despite i don't any actions.and model is tremble what's the problems? your answer is support gazebo simulations thanks.
here is my launch file
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="model" value="$(find rnd_description)/urdf/test.xacro"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)'" />
<param name="publish_frequency" type="double" value="50.0"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="publish_frequency" type="double" value="50.0"/>
</node>
<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -param robot_description -model robot_model"/>
<node name="joy_node" pkg="joy" type="joy_node"/>
<node name="teleop_joy" pkg="teleop_joy" type="teleop_joy"/>
</launch>
here is my urdf file
<?xml version="1.0"?>
<!-- Used for fixing robot to Gazebo 'base_link' -->
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<!-- Used for fixing robot to Gazebo 'base_link' -->
<!--*******************base_link********************-->
<link name="base_link">
<visual>
<geometry>
<box size="0.68 0.9 .28"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.68 0.9 .28"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="100"/>
<inertia
ixx="7.4" ixy="0.0" ixz="0.0"
iyx="0.0" iyy="4.51" iyz="0.0"
izx="0.0" izy="0.0" izz="10.6"/>
</inertial>
</link>
<!--*************************************************-->
<!--*******************Black_Deck********************-->
<link name="Black_Deck">
<visual>
<geometry>
<box size="0.6 0.6 .07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.17"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.68 0.9 .28"/>
</geometry>
</collision>
</link>
<joint name="base_to_Black_Deck" type="fixed">
<parent link="base_link"/>
<child link="Black_Deck"/>
<origin xyz="0 0 0"/>
</joint>
<!--********************************************************-->
<!--*******************Laser_Sensor*************************-->
<link name="laser">
<visual>
<geometry>
<mesh filename="package://rnd_description/meshes/hokuyo.dae" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_hokuyo" type="fixed">
<parent link="base_link"/>
<child link="laser"/>
<origin rpy="3.141592 0 1.57" xyz="0 0.46 -0.105"/>
</joint>
<!--********************************************************-->
<!--*******************Front_Bar*************************-->
<link name="Front_Bar">
<visual>
<geometry ...
Maybe you should ask this question here: http://answers.gazebosim.org/questions/