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Robot pose is improper in Gazebo & Rviz

asked 2016-02-17 14:02:08 -0500

Kishore Kumar gravatar image

updated 2016-02-17 14:02:59 -0500

I have launched the navigation stack in gazebo and Rviz, when i gave the initial 2D pose in rviz the robot appears in side ways. The left side of the robot is considered as front portion in Rviz and gazebo.

image description

I have exported the model from Solidworks where my X-axis was aligned in side ways of the robot. Is that the problem here? Then my localization is poor, does this pose error has anything to do with localization. How to fix this, is there any possibility to edit the URDF to change the pose?

URDF

<?xml   version="1.0"?>
<robot
  name="jmbot1.2">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="4.37890354126393E-17 0.00236901195255572 6.55292757021008E-18"
        rpy="0 0 0" />
      <mass
        value="0.553388494231952" />
      <inertia
        ixx="0.0061380231979678"
        ixy="-7.4245754982948E-20"
        ixz="3.98664982078876E-19"
        iyy="0.0102825937754972"
        iyz="-3.90792618692798E-19"
        izz="0.00414996053647982" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot2_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot2_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Wheel_L">
    <inertial>
      <origin
        xyz="-0.0394771489417549 -8.67361737988404E-19 5.20417042793042E-18"
        rpy="0 0 0" />
      <mass
        value="0.450643534719172" />
      <inertia
        ixx="0.000916081598048294"
        ixy="6.78545238432742E-22"
        ixz="5.25584106042723E-20"
        iyy="0.000533948766711723"
        iyz="-5.42101086242752E-20"
        izz="0.000533948766711723" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot2_description/meshes/Wheel_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot2_description/meshes/Wheel_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wheel_L"
    type="continuous">
    <origin
      xyz="0.135 0 -0.0150000000000001"
      rpy="-2.71270653405672 1.43472398876874E-16 -3.14159265358979" />
    <parent
      link="base_link" />
    <child
      link="Wheel_L" />
    <axis
      xyz="1 0 0" />
  </joint>
  <link
    name="Wheel_R">
    <inertial>
      <origin
        xyz="-0.0394771489417549 8.67361737988404E-17 6.59194920871187E-17"
        rpy="0 0 0" />
      <mass
        value="0.450643534719172" />
      <inertia
        ixx="0.000916081598048294"
        ixy="2.5544898321056E-20"
        ixz="-2.19457985353437E-21"
        iyy="0.000533948766711724"
        iyz="-8.13151629364128E-20"
        izz="0.000533948766711723" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot2_description/meshes/Wheel_R.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot2_description/meshes/Wheel_R.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wheel_R"
    type="continuous">
    <origin
      xyz="-0.135 0 -0.015"
      rpy="2.51202191489506 0 0" />
    <parent
      link="base_link" />
    <child
      link="Wheel_R" />
    <axis
      xyz="-1 0 0" />
  </joint>
  <link
    name="Castor_F">
    <inertial>
      <origin
        xyz="-5.55111512312578E-17 1.45716771982052E-16 0.0311642520583202"
        rpy="0 0 0" />
      <mass
        value="0.0565552012132997" />
      <inertia
        ixx="2.44755054701354E-05"
        ixy="0"
        ixz="-5.19674657761973E-21"
        iyy="2.44755054701354E-05"
        iyz="-1.16131199025338E-20"
        izz="7.43413937311511E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot2_description/meshes/Castor_F.STL" />
      </geometry ...
(more)
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answered 2016-02-17 16:38:52 -0500

As discussed in detail in this Q/A the standard convention according to REP-103 is x axis forward, y axis left and z axis up. The issue you observe is indeed caused by not adhering to this convention.

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Asked: 2016-02-17 14:02:08 -0500

Seen: 100 times

Last updated: Feb 17 '16