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Problems visualizing robotmodel and tf's of urdf model in rviz [closed]

asked 2015-11-19 11:52:37 -0600

andrefc gravatar image

updated 2015-11-20 11:36:01 -0600

Hi! I have build my own robot on sketchup, created an urdf file for it with plugins for the laser (libgazebo_ros_laser.so) and for the odometry (libgazebo_ros_p3d.so) and i'm simulating an navigation with it in gazebo. Until here it's almost 100% correct...

I run rviz to visualize what is happening with the sensors, tf's, etc... I just run rviz in command line and then i add what i need in the left bar (tf's, LaserScan, RobotModel and map).

Problems:

1 - i can't see correctly the tf's of my robot that are "continuous";

2 - i can't see the robot model

I think i' having this problem due to the type of the joints that are "continuous", but i have to use this for the odometry plugin for gazebo. Maybe is some problem on the joint_state_publisher, i don't know.

Do i have to create any kind of a launch file to launch rviz with joint_state_publisher too, just like for gazebo?

And why can't i see the RobotModel in rviz for my model, even if the joints are fixed? Maybe because it was designed in Sketchup?

Here is my model in urdf.

<robot name="guide_robot">

<!--Links -->

<link name="base_footprint"/>

<link name="base_link">
     <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://navigation_robot/meshes/guide_robot.dae"/>
      </geometry>
    </visual>

    <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <mesh filename="package://navigation_robot/meshes/guide_robot.dae"/>
        </geometry>
    </collision>

    <inertial>
        <mass value="15.0"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="1.7" ixy="0" ixz="0" iyy="0.9" iyz="0" izz="1.7" />
    </inertial>

</link>

    <link name="left_wheel_link">

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <mesh filename="package://navigation_robot/meshes/left_wheel.dae"/>
        </geometry>
    </visual>

    <collision>
      <origin rpy="1.5707963 0 0" xyz="0 0.055 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.08"/>
      </geometry>
    </collision>

    <inertial>
      <mass value="2.0"/>
      <origin xyz="0 0 0"/>
          <inertia ixx="0.003266" ixy="0.0" ixz="0.0" iyy="0.003266" iyz="0.0" izz="0.00064"/>
    </inertial>

</link>

<link name="right_wheel_link">

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <mesh filename="package://navigation_robot/meshes/right_wheel.dae"/>
        </geometry>
    </visual>

    <collision>
      <origin rpy="1.5707963 0 0" xyz="0 -0.055 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.08"/>
      </geometry>
    </collision>

    <inertial>
      <mass value="1.0"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003266" ixy="0.0" ixz="0.0" iyy="0.003266" iyz="0.0" izz="0.00064"/>
    </inertial>

</link>


<link name="caster_support_link">

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://navigation_robot/meshes/caster_support.dae"/>
      </geometry>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://navigation_robot/meshes/caster_support.dae"/>
      </geometry>
    </collision>

    <inertial>
      <mass value="0.181436948"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0109375" ixy="0.0" ixz="0.0" iyy="0.021125" iyz="0.0" izz="0 ...
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Closed for the following reason the question is answered, right answer was accepted by Akif
close date 2015-11-23 05:59:52.494871

Comments

Could you provide your robot model? Maybe this helps to reproduce your issue.

Sabrina gravatar imageSabrina ( 2015-11-20 09:55:01 -0600 )edit

here it is...

andrefc gravatar imageandrefc ( 2015-11-20 11:37:30 -0600 )edit

Any errors or warnings on the terminal when you run rviz?

Akif gravatar imageAkif ( 2015-11-20 11:45:55 -0600 )edit

no, there are no errors... even in gazebo i got no errors

andrefc gravatar imageandrefc ( 2015-11-20 12:20:14 -0600 )edit

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answered 2015-11-20 14:03:11 -0600

andrefc gravatar image

Deleting the base_footprint link and the joint for base_link and base_footprint as well as changing parameters for the gazebo plugin referred to the odometry, seems to solve the problem. Thank you all ;-)

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Comments

Glad you figured it out.

Akif gravatar imageAkif ( 2015-11-23 05:59:35 -0600 )edit

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Asked: 2015-11-19 11:52:37 -0600

Seen: 580 times

Last updated: Nov 20 '15