This robot has a joint named "joint_1" which is not in the gazebo model.
Hello. There is also a topic "This robot has a joint named "foo" which is not in the gazebo model."link But it didn't help. I get the following error;
[ERROR] [1467817563.508002714, 0.339000000]: This robot has a joint named "joint_1" which is not in the gazebo model.
[FATAL] [1467817563.508348807, 0.339000000]: Could not initialize robot simulation interface
My corresponding URDF file part is;
<robot name="itecharm">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="link_base"/>
</joint>
<link name="link_base">
<inertial>
<origin xyz="-0.0325856 5.11013e-06 0" rpy="0 0 0"/>
<mass value="1.26763"/>
<inertia ixx="0.00165595" ixy="-8.29854e-06" ixz="-3.99028e-11" iyy="0.00129758" iyz="1.56383e-07" izz="0.00130449"/>
</inertial>
<visual>
<origin xyz="-0.0742893 -0.0873818 0.0157596" rpy="0 0 0"/>
<geometry>
<mesh filename="package://itecharm_description/meshes/link_base.STL"/>
</geometry>
<material name="link_base_color">
<color rgba="0.792157 0.819608 0.933333 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.0742893 -0.0873818 0.0157596" rpy="0 0 0"/>
<geometry>
<mesh filename="package://itecharm_description/meshes/link_base.STL"/>
</geometry>
</collision>
</link>
<link name="link_1">
<inertial>
<origin xyz="0.137802209307 0.090396 0.0227196811405" rpy="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual>
<origin xyz="0.137802209307 0.090396 0.0227196811405" rpy="0 0 0"/>
<geometry>
<mesh filename="package://itecharm_description/meshes/link_1.STL" />
</geometry>
<material name="link_1_color">
<color rgba="0.792157 0.819608 0.933333 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.137802209307 0.090396 0.0227196811405" rpy="0 0 0"/>
<geometry>
<mesh filename="package://itecharm_description/meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="-0.0688 0 0" rpy="0 0.261799319827 1.57079632679"/>
<axis xyz="-2.22044604925e-16 1.0 0.0"/>
<parent link="link_base"/>
<child link="link_1"/>
<limit effort="50000" lower="-3.14159265359" upper="3.14159265359" velocity="50000"/>
<dynamics damping="0.1"/>
</joint>
Also, the transmission part of the URDF;
<gazebo>
<plugin name="ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/itecharm</robotNamespace>
<!--<robotSimType>ros_control/DefaultRobotHWSim</robotSimType>-->
</plugin>
</gazebo>
<transmission name="trans_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint_servo_1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>100</mechanicalReduction>
</actuator>
</transmission>
I have another URDF file for a simple two R robot that works. I couldn't figure out why this doesn't. I spawned the robot in Rviz and checked the joints without any problem. I am using ROS-Indigo