[ERROR] [1627289701.486576068, 0.170000000]: This robot has a joint named "revolute_joint" which is not in the gazebo model.
Hi, i am trying to add a revolute_joint to extrinsic calibrate a camera using VINS-MONO, but when i try to launch gazebo this error appears to me, i think it could be an error in xacro file but i am not sure what is happening. Here me xacro file: <link name="world"/>
<joint name="fixed" type="fixed"> <parent link="world"/> <child link="link1"/> </joint>
<link name="link1"> <collision> <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/> <geometry> <box size="${width} ${width} ${height1}"/> </geometry> </collision>
<visual>
<origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height1}"/>
</geometry>
<material name="orange"/>
</visual>
<inertial>
<origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
<mass value="${mass}"/>
<inertia
ixx="${mass / 12.0 * (width*width + height1*height1)}" ixy="0.0" ixz="0.0"
iyy="${mass / 12.0 * (height1*height1 + width*width)}" iyz="0.0"
izz="${mass / 12.0 * (width*width + width*width)}"/>
</inertial>
</link>
<joint name="joint1" type="continuous"> <parent link="link1"/> <child link="link2"/> <origin xyz="0 ${width} ${height1 - axel_offset}" rpy="0 0 0"/> <axis xyz="0 1 0"/> <dynamics damping="0.7"/> </joint>
<link name="link2"> <collision> <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/> <geometry> <box size="${width} ${width} ${height2}"/> </geometry> </collision>
<visual>
<origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height2}"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
<mass value="${mass}"/>
<inertia
ixx="${mass / 12.0 * (width*width + height2*height2)}" ixy="0.0" ixz="0.0"
iyy="${mass / 12.0 * (height2*height2 + width*width)}" iyz="0.0"
izz="${mass / 12.0 * (width*width + width*width)}"/>
</inertial>
</link>
<joint name="joint2" type="continuous"> <parent link="link2"/> <child link="link3"/> <origin xyz="0 ${width} ${height2 - axel_offset*2}" rpy="0 0 0"/> <axis xyz="0 1 0"/> <dynamics damping="0.7"/> </joint>
<link name="link3"> <collision> <origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/> <geometry> <box size="${width} ${width} ${height3}"/> </geometry> </collision>
<visual>
<origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height3}"/>
</geometry>
<material name="orange"/>
</visual>
<inertial>
<origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
<mass value="${mass}"/>
<inertia
ixx="${mass / 12.0 * (width*width + height3*height3)}" ixy="0.0" ixz="0.0"
iyy="${mass / 12.0 * (height3*height3 + width*width)}" iyz="0.0"
izz="${mass / 12.0 * (width*width + width*width)}"/>
</inertial>
</link>
<joint name="hokuyo_joint" type="fixed"> <axis xyz="0 1 0"/> <origin xyz="0 0 ${height3 - axel_offset/2}" rpy="0 ...
you did misspell the joint's name. Check that the name of the joint matches its name in the transmission name.