Spawning SDH hand in gazebo with ROS Kinetic

asked 2020-02-11 08:42:29 -0600

pk gravatar image

updated 2020-02-11 09:38:25 -0600

gvdhoorn gravatar image

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>
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