using include in urdf model
hello, i have some experiance in ros and now i am learning to use gazebo. i made an urdf for my model. i am trying to add a table to the world and place my model fixed on the table.
what is the best way to do that? should i add the table model to my existing .urdf file? or include the table in the .world file ?
I tried to add the table and the model to the world, and using a launch file. How do i make ajoint between the model and the table ?
On the other hand i tried to add the table as an another link to my model, and make a jpint between them two: as you can see the main link that suppose to be on the table is named: "model1". the table is model that i bring from gazebo lib.
<include> <uri>model://table</uri> <pose>0 0 0 0 0 0</pose> </include> <joint name="table_model1" type="fixed"> <child>model1</child> <parent>table::link</parent> </joint>
I'm getting this error:
Error [pareser_urdf.cc:3422] Unable tocall parseURDF on robot model Error [parser.cc:340] parse as old deprecated model filr failed. [INFO] Spawn status: SpawnModel: Model pushed to spawn queue, but spawn service timed out waiting for model to appear in simulation under the name model1.