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This robot has a joint named "foo" which is not in the gazebo model.

I'm following http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo to create my own project and getting this error:

[ERROR] [1384781890.186377319, 0.001000000]: This robot has a joint named "joint_seg_1" which is not in the gazebo model.
[FATAL] [1384781890.186620755, 0.001000000]: Could not initialize robot simulation interface

From the project I've created at https://github.com/lucasw/testbot ( current commit is 0f96ef7fcc8e31ff1bf1883dc10bc32ec440d8f1 )

I think there is something wrong with my joint or transmission, but I'm not seeing it:

<joint name="joint_seg_1" type="revolute">
    <parent link="base_link"/>
    <child link="link_1"/>
    <origin rpy="0 0 0" xyz="0.2 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0.5"/>
    <dynamics damping="0.5"/>
  </joint>
  <transmission name="tran_joint_seg_1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_seg_1"/>
    <actuator name="motor_seg_1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

The only google hit was the code that outputs the error The code producing the error is https://github.com/pal-robotics/ros_control_gazebo/blob/master/ros_control_gazebo_tests/src/robot_sim_rr.cpp