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This robot has a joint named "joint_1" which is not in the gazebo model.

asked 2016-07-06 10:38:26 -0500

Oguz gravatar image

updated 2016-07-06 10:49:22 -0500

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

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1 Answer

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answered 2016-07-06 17:21:11 -0500

Oguz gravatar image

After changing the

   <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>

part, giving random values to mass and inertia, the problem is gone.

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Comments

Also, Gazebo will round sufficiently small numbers to 0, so you may encounter this problem even with a nonzero mass/inertia.

Andrew Price gravatar imageAndrew Price ( 2018-03-17 18:23:38 -0500 )edit

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Asked: 2016-07-06 10:38:26 -0500

Seen: 932 times

Last updated: Jul 06 '16