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Why is Gazebo not loading a model?

asked 2017-04-24 21:38:12 -0500

matrhint gravatar image

I am trying to work with Gazebo using xacro files. It seems that it works with Rviz, but there is no model in Gazebo. Please take a look at the files here: https://github.com/matrhint/model-pro... I am running Kinetic. I am using roslaunch lawnmow_description lawnmow_rviz.launch and roslaunch lawnmow_gazebo lawnmow_world.launch to test it out.

Thank you for any assistance.

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In your URDF and xacro files, you shouldn't have absolute paths to resources like meshes. Use the package:// syntax instead.

Geoff gravatar image Geoff  ( 2017-04-25 02:55:44 -0500 )edit

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answered 2017-04-25 03:00:47 -0500

Geoff gravatar image

updated 2017-04-26 20:45:35 -0500

When I changed all the mesh paths in lawnmow.xacro to use the package:// syntax, Gazebo displayed the model when I launched lawnmow_world.launch. image description

For example, the first one I changed to:

package://lawnmow_description/meshes/frame.stl

I also had to add <intertial> tags to the lfcaster and rfcaster links, because Gazebo will not simulate links that do not have inertia information.

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Thank you for your fast response! That is exactly what I want. I tried: <mesh scale="0.01 0.01 0.01" filename="package://lawnmow_description/meshes/frame.stl"/> and it didn't work for me. I then changed it to <mesh filename="package://lawnmow_description/meshes/frame.stl"/> another no-go.

matrhint gravatar image matrhint  ( 2017-04-25 19:01:59 -0500 )edit

Edit: I was changing the wrong file. Your suggestion was correct. Thank you for your fast response and clear answer!

matrhint gravatar image matrhint  ( 2017-04-25 19:29:39 -0500 )edit

Any ideas why the front casters aren't showing up in gazebo?

matrhint gravatar image matrhint  ( 2017-04-25 21:20:25 -0500 )edit
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You don't have <intertial> tags in the two caster links. Gazebo will only use links that have intertia information.

Geoff gravatar image Geoff  ( 2017-04-26 02:38:23 -0500 )edit

You are my hero, but it didn't work. I copied the <inertial> information from the left_wheel and placed it after the </visual> tab, but still no casters.

matrhint gravatar image matrhint  ( 2017-04-26 04:51:10 -0500 )edit

Can you put a copy of your lawnmow.xacro somewhere so I can see? I did exactly that and I get casters.

Geoff gravatar image Geoff  ( 2017-04-26 18:39:22 -0500 )edit

I updated it on the github. Thanks again.

matrhint gravatar image matrhint  ( 2017-04-26 18:55:21 -0500 )edit

Using your exact source in Kinetic, and running roslaunch lawnmow_gazebo lawnmow_world.launch, I get casters. Does Gazebo print any errors at all? Have you tried cleaning your workspace?

Geoff gravatar image Geoff  ( 2017-04-26 19:31:41 -0500 )edit

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Asked: 2017-04-24 21:38:12 -0500

Seen: 1,271 times

Last updated: Apr 26 '17