using include in urdf model

asked 2016-08-30 05:49:15 -0600

Shmulik gravatar image

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.
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