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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 http://ros.org/wiki/urdf/Tutorials/Adding%20Physical%20and%

hsu gravatar imagehsu ( 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 imageavatarofwill13 ( 2012-04-28 15:54:40 -0500 )edit

all links.

hsu gravatar imagehsu ( 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" >
<inertial>
   <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" />
</inertial>
</link>
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Asked: 2012-04-27 14:07:22 -0500

Seen: 1,423 times

Last updated: Aug 29 '18