[Gazebo 9] Could not find parameter robot_description on parameter server

Hi, I know this question is asked a couple of times before, but I just couldn't find the right answer for me. So I'm trying to launch my URDF model with gazebo plug in and use ros_control package to control the movement. But as soon as rover_control.launch run, the error (Could not find parameter robot_description on parameter server) appears. Now, I think this happens because I messed up something in my launch file, my yaml and my urdf. So I will quote three of them here. Thank you for your patient, this is my first week of learning ros.

Control launch file:

<launch>

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find rover_project)/rover_description/config/rover_control.yaml" command="load"/> <!-- load the controllers --> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/rover" args="left_wheel_holder_to_left_wheel right_wheel_holder_to_left_wheel joint_state_controller"/> <!-- convert joint states to TF transforms for rviz, etc --> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"> <remap from="/joint_states" to="/rover/joint_states" /> </node> </launch>  YAML file: rover: # Publish all joint states ----------------------------------- joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 # Position Controllers --------------------------------------- left_wheel_holder_to_left_wheel: type: effort_controllers/JointPositionController joint: left_wheel_holder_to_left_wheel pid: {p: 100.0, i: 0.01, d: 10.0} right_wheel_holder_to_left_wheel: type: effort_controllers/JointPositionController joint: right_wheel_holder_to_left_wheel pid: {p: 100.0, i: 0.01, d: 10.0}  And the URDF file: <?xml version="1.0"?> <robot name="Rover Platform"> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> <material name="grey"> <color rgba="0.2 0.2 0 1"/> </material> <link name="base_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <box size="1.0 1.0 0.2"/> </geometry> <material name="blue"/> </visual> <collision> <geometry> <box size="1.0 1.0 0.2"/> </geometry> </collision> <inertial> <mass value="5"/> <inertia ixx="0.83333" ixy="0.0" ixz="0.0" iyy="0.433333" iyz="0.0" izz="0.433333"/> </inertial> </link> <link name="right_wheel_holder_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <box size="0.3 0.2 0.2"/> </geometry> <material name="blue"/> </visual> <collision> <geometry> <box size="0.3 0.2 0.2"/> </geometry> </collision> <inertial> <mass value="1"/> <inertia ixx="0.011" ixy="0.0" ixz="0.0" iyy="0.0067" iyz="0.0" izz="0.011"/> </inertial> </link> <link name="left_wheel_holder_link"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <box size="0.3 0.2 0.2"/> </geometry> <material name="blue"/> </visual> <collision> <geometry> <box size="0.3 0.2 0.2"/> </geometry> </collision> <inertial> <mass value="1"/> <inertia ixx="0.011" ixy="0.0" ixz="0.0" iyy="0.0067" iyz="0.0 ... edit retag close merge delete 1 Answer Sort by » oldest newest most voted Hey people from the future, I figured it out. What I did to fix this is to add the following to rover_control.launch: <param name="robot_description" command="cat$(find rover_project)/rover_description/urdf/rover.urdf"/>


So for some reason, the launch file cannot find the URDF model, I guess. So we have to show ros the way.

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