Can' t load my xacro file in Gazebo correctly
Hello All , I' m trying to simulate a simple car in Gazebo and for that I run into 2 errors:
[ERROR] [1599638879.847083135]: No link elements found in urdf file
[robot_state_publisher-4] process has died [pid 17398, exit code 1, cmd /opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/lilrookie76/.ros/log/4e57d700-f271-11ea-9781-711d86005210/robot_state_publisher-4.log].
log file: /home/lilrookie76/.ros/log/4e57d700-f271-11ea-9781-711d86005210/robot_state_publisher-4*.log
[gazebo-1] process has died [pid 17387, exit code 255, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/lilrookie76/.ros/log/4e57d700-f271-11ea-9781-711d86005210/gazebo-1.log].
log file: /home/lilrookie76/.ros/log/4e57d700-f271-11ea-9781-711d86005210/gazebo-1*.log
and this one:
[ERROR] [1599638890.694251, 978.255000]: Spawn service failed. Exiting.
[urdf_spawner-5] process has died [pid 17399, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model mrobot -param robot_description __name:=urdf_spawner __log:=/home/lilrookie76/.ros/log/4e57d700-f271-11ea-9781-711d86005210/urdf_spawner-5.log].
log file: /home/lilrookie76/.ros/log/4e57d700-f271-11ea-9781-711d86005210/urdf_spawner-5*.log
this is my launch file:
<launch>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/mbot_gazebo.xacro'" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
</launch>
these are related xacro files:
<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find mbot_description)/urdf/mbot_base_gazebo.xacro" />
<mbot_base_gazebo/>
</robot>
include this
<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- PROPERTY LIST -->
<xacro:property name="M_PI" value="3.1415926"/>
<xacro:property name="base_mass" value="1" />
<xacro:property name="base_radius" value="0.20"/>
<xacro:property name="base_length" value="0.16"/>
<xacro:property name="wheel_mass" value="0.2" />
<xacro:property name="wheel_radius" value="0.06"/>
<xacro:property name="wheel_length" value="0.025"/>
<xacro:property name="wheel_joint_y" value="0.19"/>
<xacro:property name="wheel_joint_z" value="0.05"/>
<xacro:property name="caster_mass" value="0.2" />
<xacro:property name="caster_radius" value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
<xacro:property name="caster_joint_x" value="0.18"/>
<!-- Defining the colors used in this robot -->
<material name="yellow">
<color rgba="1 0.4 0 1"/>
</material>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material> ...