| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
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
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.
Asked: 2016-01-26 16:18:32 -0500
Seen: 966 times
Last updated: Jan 27 '16
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
Can you please provide a link to your URDF?
Here is the link to my urdf file.
https://www.dropbox.com/sh/j2ijqd6oqb...
Thanks
I just added it. Thank you
did you export the model from somewhere?
Nope I made the model using Solidworks, exported the model with simmechanics and made some modifications before trying to spawn in Gazebo and ROS.