Robot doesnt spawn correctly in Gazebo
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.
<?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>