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Robot doesnt spawn correctly in Gazebo

asked 2022-04-02 00:17:37 -0500

wolf gravatar image

updated 2022-04-05 21:18:53 -0500

Hi all,

I am trying to spawn a simple bot in gazebo which I designed in solidworks and converted to urdf with sw2urdf plugin, but the bot doesnt spawn properly, I checked the TF in Rviz, it is proper, yet the meshes are somehow off place.

image description

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
     <!-- xyz="0.037221 1.1102E-16 0.11497" -->
<robot
  name="assem8">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="26.716" />
      <inertia
        ixx="0.71662"
        ixy="3.8253E-17"
        ixz="-0.10412"
        iyy="1.5159"
        iyz="-2.9715E-16"
        izz="1.6669" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://assem8/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://assem8/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="br_wheel">
    <inertial>
      <origin
        xyz="2.77555756156289E-17 -0.01 -5.55111512312578E-17"
        rpy="0 0 0" />
      <mass
        value="0.15707963267949" />
      <inertia
        ixx="0.000103410758180664"
        ixy="-5.64688631502868E-22"
        ixz="6.77626357803441E-21"
        iyy="0.000196349540849362"
        iyz="-1.12937726300573E-21"
        izz="0.000103410758180664" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://assem8/meshes/br_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://assem8/meshes/br_wheel.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j_br_wheel"
    type="continuous">
    <origin
      xyz="-0.28 -0.175 0.025"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="br_wheel" />
    <axis
      xyz="0 1 0" />
  </joint>
</robot>
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answered 2022-04-03 20:56:59 -0500

ljaniec gravatar image

You can use this site to check if your URDF is defined correctlr, e.g. default example with R2D2:

http://www.mymodelrobot.appspot.com/5...

image description

Your URDF seems to not working correctly there too - the screen after loading the URDF is blank...

There is a slider for j_br_wheel only, without any parts.

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The screen is blank because it cant access the mesh objects, present in my urdf

wolf gravatar image wolf  ( 2022-04-04 08:04:42 -0500 )edit

I stand corrected, you are right, Can you link the whole URDF with STL meshes to your question? Maybe inertia values are off?

ljaniec gravatar image ljaniec  ( 2022-04-04 09:20:48 -0500 )edit

Yeah the inertia and visual boxes arent aligned, maybe the inertia values are off, i'll attach the mesh objects

wolf gravatar image wolf  ( 2022-04-05 21:14:20 -0500 )edit

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Asked: 2022-04-02 00:17:37 -0500

Seen: 340 times

Last updated: Apr 05 '22