Gazebo model and rviz model are different.

asked 2018-11-17 12:42:23 -0600

JinhyeokSong gravatar image

updated 2018-11-17 14:05:03 -0600

Hello,all. I'm trying to make a snake robot on gazebo simulation environment. I am trying to run my simulation model on gazebo 7, ubuntu 16.04, and ros kinetic. I am trying to run my code on nvidia quadro 5000 model

This is my github repository link: https://github.com/Jinhyeok1489/snake... In this case, I've found that my gazebo model is different from rviz model which I expect.

I've launched my launch files spawn_with_controllers.launch, spawn_rviz.launch and gazebo_ros empty_world.launch. And I executed rviz rviz command. Adding robot model and tf, my model is shown as expected. However, I cannot see the model as expected on gazebo environment.

I wish to add my errors but there seems no errors on my code. But interesting thing is that I can't change the point where simulation is get started even if I change the params on launch file. Also, there's warning .

[ WARN] [1542479125.695690940, 0.136000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint1'.
[ WARN] [1542479125.697017328, 0.136000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint2'.
[ WARN] [1542479125.697964651, 0.136000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint3'.
[ WARN] [1542479125.698813692, 0.136000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint4'.
[ WARN] [1542479125.699341420, 0.136000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint5'.
[ WARN] [1542479125.700246770, 0.136000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint6'.

However, as far as I know, this warning codes doesn't affect anything on executing my code.

I want to know what's wrong with my urdf model or executing on gazebo. Thanks in advance. : )

-----------------------------------------Edited thanks to @gvdhooorn ---------------------------------------------------------- Thanks to @gvdhooorn, I can insert my captures of environment.

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As far as I know, there's difference on gazebo simulator (because it simulates physically) while rviz is a visualization tool. But I cannot understand what's wrong with my code. As you see in pictures, things collapse in gazebo environment even if I could see the model as I expected in rviz. Does this can mean that my urdf file is not wrong and any setting for conneting gazebo went wrong?Thanks again.

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Comments

It would be good if you could expand your description of the problem a bit more. What exactly do you mean by "different"? If possible, add a screenshot or two. I've given you enough karma for that.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-17 13:37:47 -0600 )edit