Some links of the robot not visible

asked 2021-04-26 14:47:37 -0600

pukki_pukki gravatar image

updated 2021-04-26 18:58:38 -0600

jayess gravatar image

Hello, I'm just trying to convert kinetic launch files to melodic launch files. Firstly, I open empty world and then I spawn my robot with launch file. However, I cannot see some links of robot in melodic version. How can I solve this problem? When I change view to collision mode, I see all links. My console output is:

roslaunch panda_gazebo kinematics.launch 


xacro: in-order processing became default in ROS Melodic. You can drop the option.
<font color="#FCE94F">Child elements of a &lt;xacro:include&gt; tag are ignored</font>
when processing file: /home/musa/catkin_ws/src/franka_panda_description/robots/panda_endowrist.urdf.xacro

SUMMARY
========

PARAMETERS
 * /franka/joint10_position_controller/joint: panda_joint11
 * /franka/joint10_position_controller/type: position_controll...
 * /franka/joint1_position_controller/joint: panda_joint1
 * /franka/joint1_position_controller/type: position_controll...
 * /franka/joint2_position_controller/joint: panda_joint2
 * /franka/joint2_position_controller/type: position_controll...
 * /franka/joint3_position_controller/joint: panda_joint3
 * /franka/joint3_position_controller/type: position_controll...
 * /franka/joint4_position_controller/joint: panda_joint4
 * /franka/joint4_position_controller/type: position_controll...
 * /franka/joint5_position_controller/joint: panda_joint5
 * /franka/joint5_position_controller/type: position_controll...
 * /franka/joint6_position_controller/joint: panda_joint6
 * /franka/joint6_position_controller/type: position_controll...
 * /franka/joint7_effort_controller/joint: panda_joint7
 * /franka/joint7_effort_controller/type: effort_controller...
 * /franka/joint7_position_controller/joint: panda_joint7
 * /franka/joint7_position_controller/type: position_controll...
 * /franka/joint8_position_controller/joint: panda_joint9
 * /franka/joint8_position_controller/type: position_controll...
 * /franka/joint9_position_controller/joint: panda_joint10
 * /franka/joint9_position_controller/type: position_controll...
 * /franka/joint_state_controller/publish_rate: 200
 * /franka/joint_state_controller/type: joint_state_contr...
 * /gazebo_ros_control/pid_gains/panda_joint1/d: 20.0
 * /gazebo_ros_control/pid_gains/panda_joint1/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint1/p: 50.0
 * /gazebo_ros_control/pid_gains/panda_joint10/d: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint10/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint10/p: 0.5
 * /gazebo_ros_control/pid_gains/panda_joint11/d: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint11/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint11/p: 0.5
 * /gazebo_ros_control/pid_gains/panda_joint2/d: 500.0
 * /gazebo_ros_control/pid_gains/panda_joint2/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint2/p: 10000.0
 * /gazebo_ros_control/pid_gains/panda_joint3/d: 10.0
 * /gazebo_ros_control/pid_gains/panda_joint3/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint3/p: 100.0
 * /gazebo_ros_control/pid_gains/panda_joint4/d: 50.0
 * /gazebo_ros_control/pid_gains/panda_joint4/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint4/p: 1000.0
 * /gazebo_ros_control/pid_gains/panda_joint5/d: 10.0
 * /gazebo_ros_control/pid_gains/panda_joint5/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint5/p: 100.0
 * /gazebo_ros_control/pid_gains/panda_joint6/d: 10.0
 * /gazebo_ros_control/pid_gains/panda_joint6/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint6/p: 100.0
 * /gazebo_ros_control/pid_gains/panda_joint7/d: 0.2
 * /gazebo_ros_control/pid_gains/panda_joint7/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint7/p: 7.0
 * /gazebo_ros_control/pid_gains/panda_joint9/d: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint9/i: 0.0
 * /gazebo_ros_control/pid_gains/panda_joint9/p: 0.5
 * /robot_description: &lt;?xml version=&quot;1....
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /
    franka_controller_spawner (controller_manager/spawner)
    rob_st_pub (robot_state_publisher/robot_state_publisher)
    spawn (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[spawn-1]: started with pid [3973]
process[franka_controller_spawner-2]: started with pid [3974]
process[rob_st_pub-3]: started with pid [3975]
[spawn-1] process has finished cleanly
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Comments

My best guess is that the models used for the visual of the robot cannot be found on the GAZEBO_MODEL_PATH, but you haven't given us much to go off in your question. Could you update your question with the console output when you launch gazebo?

shonigmann gravatar image shonigmann  ( 2021-04-26 17:54:19 -0600 )edit

Hmmm... I got less from that console output than I'd hoped. Can you add extra_gazebo_args:="--verbose" to your roslaunch command or otherwise run gazebo in verbose mode to add any gazebo-specific outputs?

shonigmann gravatar image shonigmann  ( 2021-04-26 17:58:09 -0600 )edit

Problem solved but ı dont know how it solve :D but now I have another problem

pukki_pukki gravatar image pukki_pukki  ( 2021-04-26 18:20:05 -0600 )edit
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