Gazebo does not read the .xacro
Hello I hope you can help me.
Performing the following tutorial:
https://programmerclick.com/article/1...
Everything is fine, but when I have to run Gazebo to see the chassis, I don't see anything, the chassis does not come out. I continue with the tutorial and I still don't see the robot.
I am using Ubuntu 20.04, ros noetic, and gazebo 11.
These are my .xacro files:
mybot.xacro
?xml version="1.0"?>
<robot name="mybot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Put here the robot description -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="chassisHeight" value="0.1"/>
<xacro:property name="chassisLength" value="0.4"/>
<xacro:property name="chassisWidth" value="0.2"/>
<xacro:property name="chassisMass" value="50"/>
<xacro:property name="casterRadius" value="0.05"/>
<xacro:property name="casterMass" value="5"/>
<xacro:property name="wheelWidth" value="0.05"/>
<xacro:property name="wheelRadius" value="0.1"/>
<xacro:property name="wheelPos" value="0.2"/>
<xacro:property name="wheelMass" value="5"/>
<xacro:property name="cameraSize" value="0.05"/>
<xacro:property name="cameraMass" value="0.1"/>
<xacro:include filename="$(find mybot_description)/urdf/mybot.gazebo" />
<xacro:include filename="$(find mybot_description)/urdf/materials.xacro" />
<xacro:include filename="$(find mybot_description)/urdf/macros.xacro" />
<link name="footprint" />
<joint name="base_joint" type="fixed">
<parent link="footprint"/>
<child link="chassis"/>
</joint>
<link name='chassis'>
<collision>
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0"/>
<geometry>
<box size="${chassisLength} ${chassisWidth} ${chassisHeight}"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0"/>
<geometry>
<box size="${chassisLength} ${chassisWidth} ${chassisHeight}"/>
</geometry>
<material name="orange"/>
</visual>
<inertial>
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0"/>
<mass value="${chassisMass}"/>
<box_inertia m="${chassisMass}" x="${chassisLength}" y="${chassisWidth}" z="${chassisHeight}"/>
</inertial>
</link>
<joint name="fixed" type="fixed">
<parent link="chassis"/>
<child link="caster_wheel"/>
</joint>
</robot>
mybot.gazebo
<?xml version="1.0"?>
<robot <a="" href="http://xmlns:xacro="http://www.ros.org/wiki/xacro%22" name="mybot">xmlns:xacro="http://www.ros.org/wiki/...> </robot>
<gazebo reference="chassis">
<material>Gazebo/Orange</material>
</gazebo>
</robot>
macros.xacro
<?xml version="1.0"?>
<robot <a="" href="http://xmlns:xacro="http://www.ros.org/wiki/xacro%22" name="mybot">xmlns:xacro="http://www.ros.org/wiki/...> </robot>
<xacro:macro name="cylinder_inertia" params="m r h">
<inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
izz="${m*r*r/2}"
/>
</xacro:macro>
<xacro:macro name="box_inertia" params="m x y z">
<inertia ixx="${m*(y*y+z*z)/12}" ixy = "0" ixz = "0"
iyy="${m*(x*x+z*z)/12}" iyz = "0"
izz="${m*(x*x+z*z)/12}"
/> ...