Service call failed when defining erratic robot for gazebo 1.9

asked 2013-08-15 15:26:05 -0600

ZeeQ gravatar image

updated 2013-08-16 04:20:18 -0600

Hi all,

I changed the urdf of erratic robot to make it compatible with gazebo 1.9. But now when i try to spawn the robot inside empty world it gave me following error (last lines of gazebo terminal).

[ INFO] [1376596917.648008574, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1376596917.767362832, 0.135000000]: Physics dynamic reconfigure ready.
Warning [parser.cc:353] No <sdf> element in file[data-string]
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::bad_lexical_cast> >'
  what():  bad lexical cast: source type value could not be interpreted as target
Aborted (core dumped)

Any ideas on it? (p.s I am using ROS groovy with standalone gazebo 1.9 on ubuntu 12.04).

Thanks in advance. Edit 1: Here is how my urdf looks like. it is generated from xacro using xacro.py

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /opt/ros/groovy/stacks/erratic_robot/erratic_description/urdf/erratic.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="erratic" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Included URDF Files -->
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="Grey2">
    <color rgba="0.9 0.9 0.9 1.0"/>
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <link name="base_footprint">
    <inertial>
      <mass value="0.0001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.128"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.063 0 0.128"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <link name="base_link">
    <inertial>
      <mass value="20"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://erratic_description/meshes/collada/erratic_base_link.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://erratic_description/meshes/collada/erratic_base_link.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_caster_support_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.188 0 -0.043"/>
    <parent link="base_link"/>
    <child link="base_caster_support_link"/>
    <axis xyz="0 0 1"/>
    <anchor xyz="0.01 0 0"/>
    <!-- doubts in it may ...
(more)
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Comments

Can you post the urdf file?

nkoenig gravatar imagenkoenig ( 2013-08-15 18:15:09 -0600 )edit

@nkoenig thanks. i have updated the question

ZeeQ gravatar imageZeeQ ( 2013-08-16 02:33:34 -0600 )edit