spawning a urdf file gazebo problem [closed]

asked 2012-11-07 21:43:23 -0600

joseescobar60 gravatar image

updated 2012-11-07 21:48:44 -0600

Hey Everybody,

today i'm trying to generate a .urdf file with a "skeleton of a hand", i did 3 fingers and everything was right, but when i created the finger number 4 and spawn it, gazebo doesn't show me anything and displays this:

 > configure node...
 > LightListWidget::OnLightMsg Warning
 > [parser.cc:348] Gazebo SDF has no
 > gazebo element Warning [parser.cc:291]
 > DEPRECATED GAZEBO MODEL FILE On July
 > 1st, 2012, this formate will no longer
 > by supported Convert your files using
 > the gzsdf command line tool You have
 > been warned!

and everything goes rigth until the last joint, my urdf file is:

<robot name="MANO">

  <property name="radio" value="0.05" />
  <property name="dosymedio" value="0.25" />
  <property name="dos" value="0.2" />
  <property name="unmedio" value="0.15" />

   <link name="Palma">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      <geometry>
        <box size="0.9 0.7 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      <geometry>
                <box size="0.9 0.7 0.1" />
      </geometry>
    </collision>
  </link>
  <gazebo reference="Palma">
    <material>Gazebo/FlatBlack</material>
  </gazebo>


   <joint name="a1" type="fixed" >
    <parent link="Palma" />
    <origin xyz="0.45 0.3 0" rpy="0 0 0" />
    <child link="fal1" />
  </joint>


  <link name="fal1">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.25 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.25 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal1">
    <material>Gazebo/FlatBlack</material>
  </gazebo>


<joint name="a2" type="fixed" >
    <parent link="fal1" />
    <origin xyz="0.25 0 0" rpy="0 0 0" />
    <child link="fal2" />
  </joint>


  <link name="fal2">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.2 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.2 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal2">
    <material>Gazebo/FlatBlack</material>
  </gazebo>



<joint name="a3" type="fixed" >
    <parent link="fal2" />
    <origin xyz="0.1 0 0" rpy="0 0 0" />
    <child link="fal3" />
  </joint>


  <link name="fal3">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.2 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.2 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin ...
(more)
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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by tfoote
close date 2015-06-29 02:13:49.610508