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Robot meshes not visible in rviz [Windows11, WSL2]

Hi, I am using ROS Noetic on Ubuntu 20.04 Windows11 WSL2. When I try to load my robot into rviz or into the MoveIt setup, no meshes are visible. I don't get any errors at all. Here is a picture of rviz( you can only see the two boxes which are the gripper pads): image description Here is the URDF file of the robot:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from kortex_description/robots/gen3_robotiq_2f_140.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="gen3_robotiq_2f_140">
  <!-- Run the macros -->
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000648 -0.000166 0.084487"/>
      <mass value="1.697"/>
      <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="shoulder_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.3E-05 -0.010364 -0.07336"/>
      <mass value="1.377"/>
      <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_1" type="continuous">
    <origin rpy="-3.1416 0.0 0.0" xyz="0 0 0.15643"/>
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="39" velocity="1.3963"/>
  </joint>
  <link name="bicep_link">
    <inertial>
      <origin rpy="0 0 0" xyz="3.5E-05 -0.208207 -0.01889"/>
      <mass value="1.262"/>
      <inertia ixx="0.046752" ixy="-9E-06" ixz="0" iyy="0.00085" iyz="-9.8E-05" izz="0.047188"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_2" type="revolute">
    <origin rpy="1.5708 0.0 0.0" xyz="0 0.005375 -0.12838"/>
    <parent link="shoulder_link"/>
    <child link="bicep_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="39" lower="-2.41" upper="2.41" velocity="1.3963"/>
  </joint>
  <link name="forearm_link">
    <inertial>
      <origin rpy="0 0 0" xyz="1.8E-05 0.076168 -0.01397"/>
      <mass value="0.93"/>
      <inertia ixx="0.008292" ixy="-1E-06" ixz="0" iyy="0.000628" iyz="0.000432" izz="0.008464"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/forearm_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/forearm_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_3" type="revolute">
    <origin rpy="3.1416 0 0" xyz="0 -0.41 0"/>
    <parent link="bicep_link"/>
    <child link="forearm_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="39" lower="-2.66" upper="2.66" velocity="1.3963"/>
  </joint>
  <link name="spherical_wrist_1_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-1E-06 0.008486 -0.062937"/>
      <mass value="0.6781"/>
      <inertia ixx="0.001645" ixy="0" ixz="0" iyy="0.001666" iyz="-0.000234" izz="0.000389"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_4" type="continuous">
    <origin rpy="1.5708 0.0 0.0" xyz="0 0.20843 -0.006375"/>
    <parent link="forearm_link"/>
    <child link="spherical_wrist_1_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="9" velocity="1.2218"/>
  </joint>
  <link name="spherical_wrist_2_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-1E-06 0.046429 -0.008704"/>
      <mass value="0.678"/>
      <inertia ixx="0.001685" ixy="0" ixz="0" iyy="0.0004" iyz="0.000255" izz="0.001696"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_5" type="revolute">
    <origin rpy="-1.5708 0.0 0.0" xyz="0 -0.00017505 -0.10593"/>
    <parent link="spherical_wrist_1_link"/>
    <child link="spherical_wrist_2_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="9" lower="-2.23" upper="2.23" velocity="1.2218"/>
  </joint>
  <link name="bracelet_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000281 0.011402 -0.029798"/>
      <mass value="0.5"/>
      <inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_6" type="continuous">
    <origin rpy="1.5708 0.0 0.0" xyz="0 0.10593 -0.00017505"/>
    <parent link="spherical_wrist_2_link"/>
    <child link="bracelet_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="9" velocity="1.2218"/>
  </joint>
  <link name="end_effector_link"/>
  <joint name="end_effector" type="fixed">
    <origin rpy="3.14159265358979 1.09937075168372E-32 3.14159265358979" xyz="0 0 -0.0615250000000001"/>
    <parent link="bracelet_link"/>
    <child link="end_effector_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- Tool frame used by the arm -->
  <link name="tool0"/>
  <joint name="bracelet_link-tool0_fixed_joint" type="fixed">
    <origin rpy="3.14159265358979 1.09937075168372E-32 3.14159265358979" xyz="0 0 -0.0615250000000001"/>
    <parent link="bracelet_link"/>
    <child link="tool0"/>
    <axis xyz="0 0 0"/>
  </joint>
  <joint name="measurement_tool_joint" type="fixed">
    <!-- The parent link must be read from the robot model it is attached to. -->
    <parent link="tool0"/>
    <child link="robotiq_arg2f_base_link"/>
    <!-- The tool is directly attached to the flange. -->
    <origin rpy="0 0 1.57" xyz="0 0 0"/>
  </joint>
  <link name="robotiq_arg2f_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
      <mass value="0.22652"/>
      <inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!-- The DAE file doesn't show well in Gazebo so we're using the STL instead -->
        <!-- <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_base_link.dae" scale="0.001 0.001 0.001"/> -->
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_arg2f_base_link">
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="left_outer_knuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
      <mass value="0.00853198276973456"/>
      <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="left_outer_knuckle">
    <visual>
      <material>
        <ambient>0.792156862745098 0.819607843137255 0.933333333333333 1</ambient>
        <diffuse>0.792156862745098 0.819607843137255 0.933333333333333 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <link name="left_outer_finger">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
      <mass value="0.022614240507152"/>
      <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="left_outer_finger">
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="left_inner_finger">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
      <mass value="0.0104003125914103"/>
      <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="left_inner_finger">
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="left_inner_finger_pad">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.027 0.065 0.0075"/>
      </geometry>
      <material name="">
        <color rgba="0.9 0.9 0.9 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.03 0.07 0.0075"/>
      </geometry>
      <material name="">
        <color rgba="0.9 0.0 0.0 1"/>
      </material>
    </collision>
  </link>
  <link name="left_inner_knuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
      <mass value="0.0271177346495152"/>
      <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="left_inner_knuckle">
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="right_outer_knuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
      <mass value="0.00853198276973456"/>
      <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="right_outer_knuckle">
    <visual>
      <material>
        <ambient>0.792156862745098 0.819607843137255 0.933333333333333 1</ambient>
        <diffuse>0.792156862745098 0.819607843137255 0.933333333333333 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <link name="right_outer_finger">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
      <mass value="0.022614240507152"/>
      <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="right_outer_finger">
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="right_inner_finger">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
      <mass value="0.0104003125914103"/>
      <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="right_inner_finger">
    <material>Gazebo/Black</material>
  </gazebo>
  <link name="right_inner_finger_pad">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.027 0.065 0.0075"/>
      </geometry>
      <material name="">
        <color rgba="0.9 0.9 0.9 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.03 0.07 0.0075"/>
      </geometry>
      <material name="">
        <color rgba="0.9 0.0 0.0 1"/>
      </material>
    </collision>
  </link>
  <link name="right_inner_knuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
      <mass value="0.0271177346495152"/>
      <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="right_inner_knuckle">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="finger_joint" type="revolute">
    <origin rpy="2.2957963267948966 0 0" xyz="0 -0.030601 0.054905"/>
    <parent link="robotiq_arg2f_base_link"/>
    <child link="left_outer_knuckle"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000" lower="0" upper="0.7" velocity="2.0"/>
  </joint>
  <joint name="left_outer_finger_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
    <parent link="left_outer_knuckle"/>
    <child link="left_outer_finger"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="left_inner_knuckle_joint" type="revolute">
    <origin rpy="2.2957963267948966 0 0.0" xyz="0 -0.0127 0.06142"/>
    <parent link="robotiq_arg2f_base_link"/>
    <child link="left_inner_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
  </joint>
  <joint name="left_inner_finger_joint" type="revolute">
    <origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
    <parent link="left_outer_finger"/>
    <child link="left_inner_finger"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="1" offset="0"/>
  </joint>
  <joint name="left_inner_finger_pad_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
    <parent link="left_inner_finger"/>
    <child link="left_inner_finger_pad"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="right_outer_knuckle_joint" type="revolute">
    <origin rpy="2.2957963267948966 0 3.141592653589793" xyz="0 0.030601 0.054905"/>
    <parent link="robotiq_arg2f_base_link"/>
    <child link="right_outer_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.725" upper="0.725" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
  </joint>
  <joint name="right_outer_finger_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
    <parent link="right_outer_knuckle"/>
    <child link="right_outer_finger"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="right_inner_knuckle_joint" type="revolute">
    <origin rpy="2.2957963267948966 0 -3.141592653589793" xyz="0 0.0127 0.06142"/>
    <parent link="robotiq_arg2f_base_link"/>
    <child link="right_inner_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
  </joint>
  <joint name="right_inner_finger_joint" type="revolute">
    <origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
    <parent link="right_outer_finger"/>
    <child link="right_inner_finger"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="1" offset="0"/>
  </joint>
  <joint name="right_inner_finger_pad_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
    <parent link="right_inner_finger"/>
    <child link="right_inner_finger_pad"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="base"/>
  <joint name="base_link-base_fixed_joint" type="fixed">
    <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <!-- TODO: check base_link name of robot -->
    <origin rpy="0.0 3.14159 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <!-- Transmissions are loaded in the generic kortex xacro when simulation is enabled -->
  <!-- <xacro:robotiq_arg2f_transmission prefix="${prefix}"/> -->
</robot>

Asked by adrgru on 2022-01-12 10:12:27 UTC

Comments

Please provide more details. Do you see any errors? If so please post them. Also try to post relevant parts of your code for someone to help you.

Asked by Akhil Kurup on 2022-01-12 11:18:01 UTC

I can't upload a picture because I don't have 5 points. :(

Asked by adrgru on 2022-01-13 03:39:11 UTC

I don't have 5 points. :(

you do now.

Asked by gvdhoorn on 2022-01-13 04:27:02 UTC

If I may add there are many unresolved issues with Windows 11 and WSL2 yet to be resolved. It’s promising as it offers better capabilities like being able to access GPUs but still work in progress. Perhaps raise an issue with: https://github.com/microsoft/WSL/issues

Asked by osilva on 2022-01-13 07:31:32 UTC

Hi, I have exactly the same problem. I have prepared a URDF file that works perfectly in ROS melodic, but it does not get visualized in RVIZ (Noetic + Windows 11 + WSL 2). I also tested the same URDF in Gazebo (in Noetic using spawn) and it works as expected. The problem is that I do not get any error in RVIZ (not even using --verbose or --ogre-log), so it is quite diffucult to debug. Please let us know if you find a solution. Thanks!

Asked by francisc0garcia on 2022-02-15 10:34:21 UTC

Answers

With WSL there are still some issues with using GPU, and in particular OpenGL, and this creates problems for visualizing meshes in rviz. A temporary fix would be to export: LIBGL_ALWAYS_SOFTWARE=1 LIBGL_ALWAYS_INDIRECT=0 and if you are using an Xserver, leave "Native opengl" option unchecked. This however will force the system to work on CPU, but that's what we have for now

Asked by AlexandrosNic on 2022-07-07 06:10:03 UTC

Comments

Thank you! This works great on my system. Robot is now visible. :-) Performance is fine so far, considering it's rendered by the CPU... I added the two exports to my .bashrc so they're always active automatically.

Asked by rnitsch on 2023-03-13 05:53:43 UTC

I faced the same issue ( running Noetic + Win11 + WSL2 ). It turns out the problem is with OpenGL. It was using version 3.1. I used a VM to confirm that OpenGL was the culprit, and after updating my mesa-utils by using the instructions given here, after which it worked as expected, though I did get a lot of warnings regarding the URDF collision defaults.

Asked by Sayaki on 2022-08-16 04:51:33 UTC

Comments