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Robot is levitating in Gazebo

asked 2018-12-26 20:43:26 -0500

lukewd gravatar image

I also asked this same question here https://answers.ros.org/question/3115... , was not sure which forum was most appropriate.

ROS Melodic. Latest code is here https://github.com/lukewebdev/SCARA-5...

Running: roslaunch scara_52900 all.launch

results in the robot appearing in the air instead of on the ground. I'm sure this is something really simple but have not been able to figure it out yet.

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I noticed if I adjust the Z to be negative in the fixed joint, like this <joint name="fixed" type="fixed"> <parent link="world"/> <child link="base_link"/> <origin xyz="0 0 -.9"/> </joint> the robot moves lower to the ground. But I don't understand why this is necessary given that the other elements start at 0. What am I missing? How much negative Z should I put?

lukewd gravatar imagelukewd ( 2018-12-26 21:19:44 -0500 )edit

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answered 2018-12-26 20:51:53 -0500

azeey gravatar image

My guess would be the args="-z 1.0"on https://github.com/lukewebdev/SCARA-5.... The command line arguments to spawn_model can be used to position the model anywhere in the world when the model is spawned.

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Asked: 2018-12-26 20:43:26 -0500

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Last updated: Dec 26 '18