Spawning SDH hand in gazebo with ROS Kinetic
Hi,
I am trying to just spawn SDH hand in Gazebo and it seems to explode and has no fingers. When the simulation is paused, I can see the hand, but as soon as I unpause the simulation, the hand explodes. Any solutions?
Please find the following files.
Robot description file:
<robot name="sdh">
<!-- common stuff -->
<xacro:include filename="$(find schunk_description)/urdf/common.xacro"/>
<xacro:include filename="$(find schunk_description)/urdf/materials.urdf.xacro"/>
<!-- schunk sdh -->
<xacro:include filename="$(find schunk_description)/urdf/sdh/sdh.urdf.xacro"/>
<!-- Used for fixing robot to Gazebo -->
<link name="world"/>
<!-- arm -->
<xacro:schunk_sdh name="sdh" parent="world">
<origin xyz="0 0 0.026" rpy="0 0 0"/>
<!--slightly above gazebo plane-->
</xacro:schunk_sdh>
</robot>
My launch file:
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="debug" default="false"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find schunk_bringup)/sdh/urdf/robot.urdf.xacro'"/>
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model sdh -z 0.01 " respawn="false" output="screen"/>
</launch>
Sorry, i know that is a very old question....But does someone find a solution? because a have the same problem on ros melodic
I still have not found a solution!
I found the problem this morning, the fingers are inside the structure of the palm beacuse the position of the finger in the URDF are wrong but i can't resolve this problem