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ROS and Gazebo trouble with an ODElink exception.

Hi I'm new to ROS and Gazebo.

I was trying to convert a urdf model across for use in Gazebo. I've realised I need to convert the format into an SDF file version 1.0. (as I want to use a plugin publisher and subscriber to speak to ROS).

I've included this model in a .world file and am launching it from a .launch file based off a tutorial for ros_plugin .launch file but I'm getting the following exception:

Msg Waiting for master

Msg Connected to gazebo master @ xxx

Msg Waiting for master

Msg Connected to gazebo master @ hxxx

Exception [ODELink.cc:317] Setting custom link base_linkmass to zero!

terminate called after throwing an instance of 'gazebo::common::Exception' ..and so on Abo

My base_link does have mass should it not? I've commented it out but it doesn't make much difference

Any Help would be appreciated

cheers Peter

note I had to comment out some of the addresses to the host as the forum wouldn't let me post