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Error Gazebo URDF Opening

asked 2015-02-03 09:22:39 -0600

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Hi guys, I'm working with an hexapod in a project, so i need to import it from solid works to gazebo. I tried to use an URDF exporter, and it generated an folder with 2 launchs (gazebo.launch & display.launch). I tried to execute the gazebo.launch with roslaunch. It bring me an error https://gist.github.com/anonymous/5e5...

So I openned my .launch file: https://gist.github.com/anonymous/244...

And change some lines, getting this: https://gist.github.com/anonymous/57f...

And now it is returning the following error: https://gist.github.com/anonymous/6f6...

Someone know waht should i do?

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Comments

What version of Gazebo are you using?

nkoenig gravatar imagenkoenig ( 2015-02-03 09:49:31 -0600 )edit

4.0 sir '-'

Marcio Montenegro gravatar imageMarcio Montenegro ( 2015-02-03 19:47:49 -0600 )edit

3 Answers

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answered 2015-02-04 18:39:44 -0600

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gazebo_worlds was last used in groovy. It looks like you're using hydro, so you should use some example launch files from hydro.

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answered 2015-02-05 18:08:29 -0600

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both the launch file (empty_world.launch) and model spawning script (spawn_model) are now in a package called gazebo_ros, so try replacing

<launch>
  <include
    file="$(find gazebo_worlds)/launch/empty_world.world" />
  <node
    name="tf_footprint_base"
    pkg="tf"
    type="static_transform_publisher"
    args="0 0 0 0 0 0 base_link base_footprint 40" />
  <node
    name="spawn_model"
    pkg="gazebo"
    type="spawn_model"
    args="-file $(find hexapod_launch)/robots/hexapod_launch.URDF-urdf -model hexapod_launch"
    output="screen" />
  <node
    name="fake_joint_calibration"
    pkg="rostopic"
    type="rostopic"
    args="pub /calibrated std_msgs/Bool true" />
</launch>

with

<launch>
  <include
    file="$(find gazebo_ros)/launch/empty_world.launch" />
  <node
    name="tf_footprint_base"
    pkg="tf"
    type="static_transform_publisher"
    args="0 0 0 0 0 0 base_link base_footprint 40" />
  <node
    name="spawn_model"
    pkg="gazebo_ros"
    type="spawn_model"
    args="-file $(find hexapod_launch)/robots/hexapod_launch.URDF-urdf -model hexapod_launch"
    output="screen" />
  <node
    name="fake_joint_calibration"
    pkg="rostopic"
    type="rostopic"
    args="pub /calibrated std_msgs/Bool true" />
</launch>

that should get you past the errors you posted

ResourceNotFound: gazebo_worlds

and

ERROR: cannot launch node of type [gazebo/spawn_model]: gazebo
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answered 2015-02-05 09:24:23 -0600

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This post is a wiki. Anyone with karma >75 is welcome to improve it.

You can try loading your model without ROS by doing:

  1. Locate your URDF file.
  2. Run: gz sdf -p REPLACE_WITH_URDF_FILE > model.sdf
  3. Create a world file with:

    <?xml version="1.0" ?>
    <sdf version="1.5">
      <world name="default">
        <include><uri>model://sun</uri></include>
        <include><uri>model://ground_plane</uri></include>
        COPY THE CONTENTS OF model.sdf HERE
      </world>
    </sdf>
    
  4. Run gazebo: gazebo THE_WORLD_FILE_CREATED_IN_STEP3
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Asked: 2015-02-03 09:22:39 -0600

Seen: 1,737 times

Last updated: Feb 05 '15