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Robot model spawn error

Hi,

I'm trying to spawn a Valkyrie robot in Gazebo's empty_world with rosrun and so far I got this error every time I did it.

[ INFO] [1477943898.800700118, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1477943898.827596901, 0.047000000]: Physics dynamic reconfigure ready.
Error [parser.cc:697] XML Element[imuTransform], child of element[sensor] not defined in SDF. Ignoring.[sensor]
Error [parser.cc:688] Error reading element <sensor>
Error [parser.cc:688] Error reading element <link>
Error [parser.cc:688] Error reading element <model>
Error [parser.cc:348] Unable to read element <sdf>
Error [parser.cc:299] parse as old deprecated model file failed.
Error [World.cc:1527] Unable to read sdf string [...the whole text from urdf file...]

Can somebody explain why I have this error and suggest any potential solution for this? Thank you.

Robot model spawn error

Hi,

I'm trying to spawn a Valkyrie robot in Gazebo's empty_world with rosrun and so far I got this error every time I did it.

[ INFO] [1477943898.800700118, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1477943898.827596901, 0.047000000]: Physics dynamic reconfigure ready.
Error [parser.cc:697] XML Element[imuTransform], child of element[sensor] not defined in SDF. Ignoring.[sensor]
Error [parser.cc:688] Error reading element <sensor>
Error [parser.cc:688] Error reading element <link>
Error [parser.cc:688] Error reading element <model>
Error [parser.cc:348] Unable to read element <sdf>
Error [parser.cc:299] parse as old deprecated model file failed.
Error [World.cc:1527] Unable to read sdf string [...the whole text from urdf file...]

Can somebody explain why I have this error and suggest any potential solution for this? Thank you.