Sed's profile - activity

Hi everyone,

I am having problems with rviz. Everything was working fine,but after I had to unplug the robot and power it back everything went wrong. The remaining problem is related to rviz.

when roslaunch, rviz only shows one link, the others are not there, and it doesn't find an IK solution. Looks like all the codes are correct. I don't know what the problem might be...

Any ideas? Below is what I get when I launch the file...

 URDF   
<?xml version="1.0" ?>

<!-- Revolute-Revolute Manipulator -->
<robot name="melfa" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<!-- Link 1 -->
<!-- Link 2 -->
<!-- Link 3 -->
<!-- Link 4 -->
<!-- Link 5 -->
<!-- Link 6 -->
<!-- Link 7 -->
<!-- Size of square 'camera' box -->
<!-- Space btw top of beam and the each joint -->
<!-- Import all Gazebo-customization elements, including Gazebo colors -->
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
  <robotNamespace>/rrbot</robotNamespace>
</plugin>
</gazebo>
<!-- Link1 -->
<gazebo reference="link1">
<material>Gazebo/Orange</material>
</gazebo>
<!-- Link2 -->
<gazebo reference="link2">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
 </gazebo>
 <!-- Link3 -->
  <gazebo reference="link3">
    <mu1>0.2</mu1>
   <mu2>0.2</mu2>
   <material>Gazebo/Orange</material>
   </gazebo>
   <!-- camera_link -->
  <gazebo reference="camera_link">
  <mu1>0.2</mu1>
  <mu2>0.2</mu2>
  <material>Gazebo/Red</material>
  </gazebo>
  <!-- hokuyo -->
  <gazebo reference="hokuyo_link">
   <sensor name="head_hokuyo_sensor" type="gpu_ray">
    <pose>0 0 0 0 0 0</pose>
  <visualize>false</visualize>
  <update_rate>40</update_rate>
  <ray>
    <scan>
      <horizontal>
        <samples>720</samples>
        <resolution>1</resolution>
        <min_angle>-1.570796</min_angle>
        <max_angle>1.570796</max_angle>
      </horizontal>
    </scan>
    <range>
      <min>0.10</min>
      <max>30.0</max>
      <resolution>0.01</resolution>
    </range>
    <noise>
      <type>gaussian</type>
      <!-- Noise parameters based on published spec for Hokuyo laser
           achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
           stddev of 0.01m will put 99.7% of samples within 0.03m of the true
           reading. -->
      <mean>0.0</mean>
      <stddev>0.01</stddev>
    </noise>
  </ray>
  <plugin filename="libgazebo_ros_gpu_laser.so" name="gazebo_ros_head_hokuyo_controller">
    <topicName>/rrbot/laser/scan</topicName>
    <frameName>hokuyo_link</frameName>
  </plugin>
</sensor>
 </gazebo>
 <!-- camera -->
 <gazebo reference="camera_link">
  <sensor name="camera1" type="camera">
  <update_rate>30.0</update_rate>
  <camera name="head">
    <horizontal_fov>1.3962634</horizontal_fov>
    <image>
      <width>800</width>
      <height>800</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>300</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <!-- Noise is sampled independently per pixel on each frame.  
           That pixel's noise value is added to each of its color
           channels, which at that point lie in the range [0,1]. -->
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
    <alwaysOn>true</alwaysOn>
    <updateRate>0.0</updateRate>
    <cameraName>rrbot/camera1</cameraName>
    <imageTopicName>image_raw</imageTopicName>
    <cameraInfoTopicName>camera_info</cameraInfoTopicName>
    <frameName>camera_link</frameName>
    <hackBaseline>0.07</hackBaseline>
    <distortionK1>0.0</distortionK1>
    <distortionK2>0.0</distortionK2>
    <distortionK3>0.0</distortionK3>
    <distortionT1>0.0</distortionT1>
    <distortionT2>0.0</distortionT2>
   </plugin>
  </sensor>
    </gazebo>
    <!-- Import Rviz colors -->
  <material name="black">
  <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="blue">
  <color rgba="0 ...