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Part of my Robot gets embedded inside the ground for ROS and Gazebo

asked 2016-01-26 16:18:32 -0600

ezeob002 gravatar image

updated 2016-01-26 18:56:11 -0600

While Spawning my URDF in ROS and Gazebo half of my Bipedal Robot gets embedded inside the ground. I know it has to do with the way my URDF tree is structured, but I cant figure out a way to tell ROS or Gazebo that my foot link should be in contact with the floor. Please any clue or help would be useful. Thanks

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Can you please provide a link to your URDF?

MahdiehNejati gravatar imageMahdiehNejati ( 2016-01-26 16:36:49 -0600 )edit

Here is the link to my urdf file.

https://www.dropbox.com/sh/j2ijqd6oqb...

Thanks

ezeob002 gravatar imageezeob002 ( 2016-01-26 17:50:04 -0600 )edit

I just added it. Thank you

ezeob002 gravatar imageezeob002 ( 2016-01-26 18:53:29 -0600 )edit

did you export the model from somewhere?

l0g1x gravatar imagel0g1x ( 2016-01-27 00:38:13 -0600 )edit

Nope I made the model using Solidworks, exported the model with simmechanics and made some modifications before trying to spawn in Gazebo and ROS.

ezeob002 gravatar imageezeob002 ( 2016-01-27 00:58:00 -0600 )edit

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answered 2016-01-27 01:26:16 -0600

Akif gravatar image

Coordinate system origin of your model may not be the bottom-most point. Therefore, if you define it as your base link, it will be snapped to ground. On Solidworks, you can define a coordinate system at the ground level of your model, and while exporting URDF you can select that coordinates as your reference frame.

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I have a reference plane in my assembly, how do you set the reference plane as your coordinates reference frame while exporting through simmechanics. Thanks

ezeob002 gravatar imageezeob002 ( 2016-01-27 10:51:35 -0600 )edit

Check if the global origin is on the plane that is intersecting the model

l0g1x gravatar imagel0g1x ( 2016-01-27 14:03:43 -0600 )edit

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Asked: 2016-01-26 16:18:32 -0600

Seen: 197 times

Last updated: Jan 27 '16