Why spawned model keep falling down?
Hi everyone,
After I launch gazebo.launch
, the spawned model keep falling down to the floor, it seems controllers doesn't work. I did rosservice call /notspot_controller/controller_manager/list_controllers
and it printed out: controller: []
.
From terminal has warning: Controller Spawner couldn't find the expected controller_manager ROS interface.
, although I installed the needed package: sudo apt-get install ros-melodic-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-position-controllers ros-melodic-velocity-controllers ros-melodic-ros-controllers ros-melodic-gazebo-ros ros-melodic-gazebo-ros-control
.
I have an urdf model notspot.urdf
in here:
<?xml version="1.0" encoding="utf-8"?>
<!-- Author: lnotspotl -->
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Maximum torque -->
<xacro:property name="effort_limit" value="1.4" />
<!-- base_link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/body_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.25 0.1285 0.055"/>
</geometry>
</collision>
</link>
<link name="base_inertia">
<inertial>
<origin xyz="-0.00048043 9.0814E-05 0.00023409" rpy="0 0 0" />
<mass value="0.81776" />
<inertia
ixx="0.00058474"
ixy="-1.0045E-06"
ixz="1.0886E-08"
iyy="0.00029699"
iyz="3.2027E-08"
izz="0.00063853" />
</inertial>
</link>
<!-- FR1 -->
<link name="FR1">
<inertial>
<origin xyz="0.011092 -0.0032719 0.00019267" rpy="0 0 0" />
<mass value="0.15379" />
<inertia
ixx="4.474E-05"
ixy="-1.0746E-05"
ixz="-1.7651E-07"
iyy="4.3489E-05"
iyz="-7.8105E-08"
izz="6.8646E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/FR1_obj.obj" />
</geometry>
</visual>
</link>
<!-- FR2 -->
<link name="FR2">
<inertial>
<origin xyz="0.038603 -0.0025578 -0.0001752" rpy="0 0 0" />
<mass value="0.15106" />
<inertia
ixx="2.365E-05"
ixy="-5.3771E-07"
ixz="-1.6144E-06"
iyy="0.00010469"
iyz="8.3059E-08"
izz="0.00011187" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/R2_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.04 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.125" radius="0.014"/>
</geometry>
</collision>
</link>
<!-- FR3 -->
<link name="FR3">
<inertial>
<origin xyz="0.029797 -0.00098828 -9.2749E-05" rpy="0 0 0" />
<mass value="0.023372" />
<inertia
ixx="6.565E-07"
ixy="6.8071E-07"
ixz="-1.0503E-07"
iyy="2.7257E-05"
iyz="3.918E-09"
izz="2.7469E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/R3_obj.obj" />
</geometry> ...
Have you seen the answer to question #q384611 ? It may help your understanding with
ros controllers
vs.moveit controllers
.