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R2D2 urdf moving in Rviz but not Gazebo

asked 2012-11-07 02:17:42 -0500

tangell gravatar image

updated 2012-11-07 02:18:05 -0500

Hi all,

I can load my r2d2 urdf from the urdf tutorials in both Gazebo and Rviz. However, in RViz the model is moving in a circle and in Gazebo it is stationary. Why is this so?

Thank you

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Not enough information. How does your set up look like?

Lorenz gravatar image Lorenz  ( 2012-11-07 02:28:14 -0500 )edit

I'm not sure what kind of information you're looking for?

tangell gravatar image tangell  ( 2012-11-07 02:31:10 -0500 )edit

For example, what tutorial did you follow? How do you move the models in rviz?

Po-Jen Lai gravatar image Po-Jen Lai  ( 2012-11-07 03:34:09 -0500 )edit

Also which launch files are you running? Which ROS distribution? See http://ros.org/wiki/Support

Lorenz gravatar image Lorenz  ( 2012-11-07 03:36:27 -0500 )edit

I'm using ROS fuerte and I followed this tutorial:

http://www.ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher

I'm using the state and launch file from that page. I changed model.xml to model.urdf and made the launch file look for model.urdf instead of model.xml.

tangell gravatar image tangell  ( 2012-11-07 06:37:05 -0500 )edit

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answered 2012-11-07 04:51:51 -0500

David Lu gravatar image

The R2D2 Tutorials publish information to /tf, which is visualized in rviz. It does NOT simulate the motors and other functionality for it to be fully simulated in Gazebo.

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So when a robot is able to be simulated in Gazebo and Rviz, what kind of extra information or files are being used?

tangell gravatar image tangell  ( 2012-11-07 06:37:47 -0500 )edit

You need to specify the controllers for the different joints.

David Lu gravatar image David Lu  ( 2012-11-07 13:30:44 -0500 )edit

Can you give me an example?

tangell gravatar image tangell  ( 2012-11-07 14:11:10 -0500 )edit

Alas, I have not myself mastered the Gazebo half of model building. However, I can recommend checking out how other robot models do it, such as http://ros.org/wiki/erratic_description

David Lu gravatar image David Lu  ( 2012-11-08 08:25:35 -0500 )edit

I found this : http://answers.ros.org/question/9628/moving-a-robot-in-gazebo/
it looks like it might point in the right direction for that.

tangell gravatar image tangell  ( 2012-11-09 01:43:34 -0500 )edit

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Asked: 2012-11-07 02:17:42 -0500

Seen: 874 times

Last updated: Nov 07 '12