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gazebo urdf tutorial robots not visible

asked 2012-04-27 14:07:22 -0500

avatarofwill13 gravatar image

Hello, I am virtualizing in virtual box a copy of ubuntu 11.10 for a robotics class. I have ros electric installed. I have 3d acceleration enabled. My problem is whenever I load a model from the urdf tutorials into gazebo, such as the visual robot, it is not rendered. Either nothing is rendered or only the root link is rendered. \ Simple objects such as the tables or primitives are rendered.

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Please be more specific when asking a question, i.e. reference models you are having trouble with. In general, if you would like to dynamically simulate things in gazebo, you need to add physical properties (e.g. inertial elements), see

hsu gravatar image hsu  ( 2012-04-28 09:11:48 -0500 )edit

One of the models was called visual, which was my reference. its the end result of the building a visual robot model in urdf from scratch. its in the urdf_tutorial package with the model name 05-visual.urdf. Do all links need physical properties to be visible or only the main link?

avatarofwill13 gravatar image avatarofwill13  ( 2012-04-28 15:54:40 -0500 )edit

all links.

hsu gravatar image hsu  ( 2012-04-28 17:02:04 -0500 )edit

3 Answers

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answered 2012-04-27 15:23:17 -0500

David Lu gravatar image

The models in the URDF tutorials are not meant for Gazebo, only RViz.

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answered 2012-05-02 09:10:10 -0500

Carlos gravatar image

You probably need to add <inertial> properties to all links in order to visualize them in gazebo

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answered 2018-08-29 01:39:31 -0500

Markus gravatar image

This really is ridiculous:

Even for virtual links like plate_footprint or if you wanna have more dof at one joint you need at least to add inertial and a mass value and an inertia of none zero:

<link name="plate_footprint" >
   <origin rpy="${0} 0 0" xyz="0.0 0.0 0.0"/>
   <mass value="0.001" />
   <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
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Asked: 2012-04-27 14:07:22 -0500

Seen: 2,388 times

Last updated: Aug 29 '18