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Problem spawning objects in Gazebo, Robotino

asked 2012-06-11 03:08:03 -0500

Gen_Robotino gravatar image

updated 2012-06-15 02:02:34 -0500

Hello, I'm new to ROS, and URDF, and am working on a project in which I need to use both. I have gone through all of the tutorials on how everything works, and am trying to spawn the Robotino URDF file to no avail.

The error I keep on receiving is

Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details

I can spawn basic objects just fine, but for some reason this URDF file just won't work. I have all of the meshes that the URDF calls as well.

I downloaded the urdf from the ROS website repostiory which included the meshes already. I am wondering if the urdf cannot find these mesh files though.

Any help would be appreicated.

My URDF is below





<robot name="robotino">
  
  <link name="base_link">
    <inertial>
      <mass value="20"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.570795" xyz="0.01 0 0"/>
      <geometry>
        <mesh filename="package://robotino_description/meshes/RobotinoBody.dae" scale="0.01 0.01 0.01"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <cylinder length="0.05" radius="0.18"/>
      </geometry>
    </collision>
  </link>
  <joint name="wheel0_joint" type="continuous">
    <origin rpy="0 0 1.04719666667" xyz="0.065 0.11 0.04"/>
    <axis xyz="-1 0 0"/>
    <parent link="base_link"/>
    <child link="wheel0_link"/>
  </joint>
  <link name="wheel0_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotino_description/meshes/RobotinoWheel.dae" scale="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="wheel1_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.13 0 0.04"/>
    <axis xyz="1 0 0"/>
    <parent link="base_link"/>
    <child link="wheel1_link"/>
  </joint>
  <link name="wheel1_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotino_description/meshes/RobotinoWheel.dae" scale="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="wheel2_joint" type="continuous">
    <origin rpy="0 0 -1.04719666667" xyz="0.065 -0.11 0.04"/>
    <axis xyz="-1 0 0"/>
    <parent link="base_link"/>
    <child link="wheel2_link"/>
  </joint>
  <link name="wheel2_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotino_description/meshes/RobotinoWheel.dae" scale="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="command_bridge_joint" type="fixed">
    <origin ...
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Comments

It would help if you posted your URDF for us to look at

DimitriProsser gravatar imageDimitriProsser ( 2012-06-11 10:27:41 -0500 )edit
1

What is your spawn command that you're using?

DimitriProsser gravatar imageDimitriProsser ( 2012-06-12 03:06:55 -0500 )edit

I am using rosrun gazebo spawn_model -file robotino.urdf -urdf -model robotino

Gen_Robotino gravatar imageGen_Robotino ( 2012-06-12 03:49:38 -0500 )edit

2 Answers

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answered 2012-06-15 03:38:09 -0500

Gen_Robotino gravatar image

I used the command svn from the ROS website, which gave me all of the correct meshes.

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answered 2012-06-13 03:26:19 -0500

cagatay gravatar image

updated 2012-06-13 03:27:20 -0500

did you check that if you had the package://robotino_description/meshes/RobotinoBody.dae and other mesh files or not ?

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Asked: 2012-06-11 03:08:03 -0500

Seen: 595 times

Last updated: Jun 15 '12