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This robot has a joint named "foo" which is not in the gazebo model.

asked 2015-04-28 09:17:43 -0600

Mehdi. gravatar image

I know this question exists already but it doesn't help. I want to spawn a robot from urdf using the gazebo_ros package. I noticed that this happens whenever I define a link in my urdf with no additional parameters. for example in my case:

This robot has a joint named "pusher_joint" which is not in the gazebo model.

Where

<link name="pusher_base"/>

  <joint name="base_to_pusher" type="fixed">
      <parent link="base_link"/>
      <child link="pusher_base"/>
      <origin xyz="0.74 -1.058 0.18" rpy="0.000 -0.000 ${pi -1.045}"/> 
  </joint>

 <joint name="pusher_joint" type="prismatic">
     <axis xyz="-1 0 0" />
      <limit effort="20" velocity="10"  lower="0" upper="1.5"/>
      <parent link="pusher_base"/>
      <child link="pusher_end_effector"/>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
  </joint>

How can I fix this?

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answered 2015-04-28 22:48:02 -0600

marguedas gravatar image

Gazebo doesn't handle links without physical properties. You need to add the inertial tag (inertia and mass) for Gazebo to recognize it as a "simulable link"
If you don't care about the physics you can give dummy values, that's what I do here because I don't know any of the physics of these links.

Hope this helps,

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So except base_link all other links have to have an explicitly defined inertia?

Mehdi. gravatar imageMehdi. ( 2015-04-30 03:52:54 -0600 )edit
1

yes all the ones who are part of a kinematic chain ( so only the physics link, not the sensor links)

marguedas gravatar imagemarguedas ( 2015-04-30 08:07:50 -0600 )edit

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Asked: 2015-04-28 09:17:43 -0600

Seen: 587 times

Last updated: Apr 28 '15