Pose and orientation of my robot is incorrect in Gazebo and RViz

asked 2017-01-04 23:45:47 -0500

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Pose and orientation of my robot is incorrect in Gazebo and RViz .

I have exported the URDF from Solidworks using solidworks to URDF plugin. I didn't modify any option in dialogues opened during export. Then i created an URDF package in ROS workspace and spawned the robot model into the world which resulted in inverted pose of the robot as shown in picture.

when load model in gazebo and Rviz from starting have this pose . how can edit my urdf or xacro file to load robot correctly ?? my xacro file : https://www.dropbox.com/sh/d4wjdjie1s...

image description

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Comments

Could it have fallen to the ground? Have you tried starting the simulation paused?

chapulina gravatar imagechapulina ( 2017-01-05 00:22:20 -0500 )edit

try to reset the model and position

wilmer gravatar imagewilmer ( 2017-01-05 01:09:23 -0500 )edit

yes . i paused simulation. robot is fallen to the ground in RViz too !

zakizadeh gravatar imagezakizadeh ( 2017-01-05 01:40:22 -0500 )edit

where is the 0,0,0 in your solidworks? by the look is not in the base. can you edit your model from the gui and capture the screen?

wilmer gravatar imagewilmer ( 2017-01-05 14:06:46 -0500 )edit

Did you pause the simulation after it had already started or you started the simulation paused? You can set `paused:=true` when you launch it.

chapulina gravatar imagechapulina ( 2017-01-05 17:10:46 -0500 )edit

The reason I think it fell is that it looks like that on your screenshot.

chapulina gravatar imagechapulina ( 2017-01-05 17:11:57 -0500 )edit

when load model in gazebo and Rviz from starting have this pose . how can edit my urdf or xacro file to load robot correctly ??

zakizadeh gravatar imagezakizadeh ( 2017-01-05 19:40:17 -0500 )edit

hi . I Tried so hard but I still have problems . I'm disappointed . can you help me please ! i need your help

zakizadeh gravatar imagezakizadeh ( 2017-01-16 08:08:27 -0500 )edit