screw joint in Gazebo

asked 2018-03-23 07:52:51 -0600

benqll gravatar image

updated 2018-04-02 04:41:27 -0600

Hello,

I'm trying to simulate screw joints using Gazebo 7 and ROS kinetic,like this but i am failed. The gazebo cannot parse the xacro when i added the screw type joint.

I have looked into the pr2_description,torso.gazebo.xacro, which is an example.

Anyone can give me an explanation of the screw type joint or a sample coding of screw joint. Thank you.

Here is the error message:

Error [parser_urdf.cc:3474] Unable to call parseURDF on robot model

Error [parser.cc:341] parse as old deprecated model file failed.

Here is my coding:

<?xml version="1.0"?>

<robot name="OBS">

<link
name="base">
<inertial>
  <origin
    xyz="0 0.1 0"
    rpy="0 0 0" />
  <mass
    value="2" />
  <inertia
    ixx="0"
    ixy="0"
    ixz="0"
    iyy="0"
    iyz="0"
    izz="0" />
</inertial>
<visual>
  <origin
    xyz="0 0 0"
    rpy="0 0 0" />
  <geometry>
    <mesh
      filename="package://rov_props/meshes/OBS.STL" />
  </geometry>
  <material
    name="">
    <color
      rgba="1 0 0 1" />
  </material>
</visual>
<collision>
  <origin
    xyz="0 0 0"
    rpy="0 0 0" />
  <geometry>
    <mesh
      filename="package://rov_props/meshes/OBS.STL" />
  </geometry>
</collision>

 <buoyancy>
  <compensation>0.8</compensation>
  <origin xyz= "0 0 0"/>
  <limit radius="0.05"/>
  <damping xyz="50 50 60" rpy="50 50 50"/>
 </buoyancy>
</link>

<link
    name="leveling_arm1">
    <inertial>
      <origin
        xyz="0 0 0 "
        rpy="0 0 0" />
      <mass
        value="0.2" />
      <inertia
        ixx="-0.0"
        ixy="-0.0"
        ixz="-0.0"
        iyy="-0.0"
        iyz="-0.0"
        izz="-0.1" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rov_props/meshes/levelingArm.STL" />
      </geometry>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rov_props/meshes/levelingArm.STL" />
      </geometry>
    </collision>
     <buoyancy>
      <compensation>0.5</compensation>
      <origin xyz= "0 0 0"/>
      <limit radius="0.05"/>
      <damping xyz="50 50 60" rpy="50 50 50"/>
     </buoyancy>
</link>


    <joint name="screw_level1" type="screw">
        <parent link="base_link"/>
        <child link="leveling_arm1"/>
        <axis>
            <xyz>0 0 1</xyz>
        </axis>
        <thread_pitch>3141.6</thread_pitch>
    </joint>

</robot>

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Comments

Can you add the error message you get when parseing the URDF file, then we will be able to help you solve this one. The obvious mistake I could think of is a missing <thread_pitch> tag, but that's just a guess until we see the error message.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-03-25 06:45:43 -0600 )edit

Pete Thank you for answering my question. I have updated the error message and my coding. i do not miss the <thread_pitch> that it may not be the problem.

benqll gravatar imagebenqll ( 2018-03-29 09:51:13 -0600 )edit