ERROR with libgazebo_ros_joint_state_plublisher.so
i have a really small project and i try to run rviz with libgazebo_ros_joint_state_plublisher.so but it is not working. i donot know why someone can help me?
<?xml version="1.0"?>
<robot name="test_bot">
<!-- hier is the base of the Robot-->
<link name="base_link">
<visual>
<geometry>
,<box size="0.6 0.3 0.1"/>
</geometry>
<material name="red">
,<color rgba="1 0.0 0.0 1"/>
</material>
</visual>
<!-- this is for the fisical simulation-->
<collision>
<geometry>
,<box size="0.6 0.3 0.1"/>
</geometry>
</collision>
<!-- inertial it is important because it
is that make the Bot move-->
<inertial>
<mass value ="1.0"/>
<inertia ixx="0.015" ixy="0" ixz="0" iyy="0.0375" iyz="0.0" izz="0.0375"/>
</inertial>
</link>
<link name="front_caster_of_wheel">
<visual>
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="green">
<color rgba ="0.0 0.4 0.0 0.7"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
</collision>
<!-- inertial it is important because it
is that make the Bot move-->
<inertial>
<mass value ="1.0"/>
<inertia ixx="0.00083" ixy="0" ixz="0" iyy="0.000083" iyz="0.0" izz="0.000167"/>
</inertial>
</link>
<!-- it is important to have a joint ever when you have more links-->
<joint name="front_caster_of_wheel_joint" type="continuous">
<axis xyz="0.0 0.0 1"/>
<parent link="base_link"/>
<child link="front_caster_of_wheel"/>
<origin xyz ="0.3 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>
<link name="front_wheel">
<visual>
<geometry>
<cylinder radius="0.035" length="0.05"/>
</geometry>
<material name="black">
<color rgba ="0.0 0.4 0.0 0.7"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.035" length="0.05"/>
</geometry>
</collision>
<!-- inertial it is important because it
is that make the Bot move-->
<inertial>
<mass value ="1.0"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0.0" izz="6.125e-5"/>
</inertial>
</link>
<joint name="front_wheel_joint" type="continuous">
<axis xyz="0.0 0.0 1"/>
<parent link="front_caster_of_wheel"/>
<child link="front_wheel"/>
<origin xyz="0.05 0.0 -0.05" rpy="-1.5708 0.0 0.0"/>
</joint>
<link name="right_wheel">
<visual>
<geometry>
<cylinder radius="0.035" length="0.05"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.7"></color>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.035" length="0.05"/>
</geometry>
</collision>
<!-- inertial it is important because it
is that make the Bot move-->
<inertial>
<mass value ="1.0"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz ...
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