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Cant spawn robot in XACRO format

Hello,

I have issues to spawn my FRANKA EMIKA robot in Gazebo. The robot model is a XACRO format.

I followed this tutorial:

http://gazebosim.org/tutorials?tut=ros_roslaunch#CreatingaCustomWorldFile

At first I followed the chapter "Creating your own Gazebo ROS Package". With that everything works fine.

First I have to call the command roscore in a terminal.

Afterwards I type in a new terminal:

. ~/catkin_ws/devel/setup.bash
roslaunch franka_gazebo franka.launch

The gas station shows up fine as shown in the tutorial.


Afterwards I followed the chapter "Using roslaunch to spawn URDF robots" --> "XACRO example with PR2"

I tried to adapt the commands on my case. So the two commands look like this:

param name="robot_description" command="$(find xacro)/xacro.py $(find franka_ros)/franka_description/robots/hand.urdf.xacro"

node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model hand"

My file hierarchy is following:

home/username/catkin_ws/src/franka_ros/franka_description/robots/hand.urdf.xacro

home/username/catkin_ws/src/franka_gazebo/

with the following in it:

..launch/franka.launch

..worlds/franka.world

..CMakeLists.txt

..package.xml

But the terminal gives back following:

WARN: unrecognized 'param' tag in <include> tag

What have I done wrong?

WARN: unrecognized 'node' tag in <include> tag

Cant spawn robot in XACRO format

Hello,

I have issues to spawn my FRANKA EMIKA robot in Gazebo. The robot model is a XACRO format.

I followed this tutorial:

http://gazebosim.org/tutorials?tut=ros_roslaunch#CreatingaCustomWorldFile

At first I followed the chapter "Creating your own Gazebo ROS Package". With that everything works fine.

First I have to call the command roscore in a terminal.

Afterwards I type in a new terminal:

. ~/catkin_ws/devel/setup.bash
roslaunch franka_gazebo franka.launch

The gas station shows up fine as shown in the tutorial.


Afterwards I followed the chapter "Using roslaunch to spawn URDF robots" --> "XACRO example with PR2"

I tried to adapt the commands on my case. So the two commands look like this:

param name="robot_description" command="$(find xacro)/xacro.py $(find franka_ros)/franka_description/robots/hand.urdf.xacro"

node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model hand"

My file hierarchy is following:

home/username/catkin_ws/src/franka_ros/franka_description/robots/hand.urdf.xacro

home/username/catkin_ws/src/franka_gazebo/

home/username/catkin_ws/src/franka_ros/franka_description/robots/hand.urdf.xacro

home/username/catkin_ws/src/franka_gazebo/

with the following in it:

..launch/franka.launch

..worlds/franka.world

..CMakeLists.txt

..package.xml

..launch/franka.launch

..worlds/franka.world

..CMakeLists.txt

..package.xml

But the terminal gives back following:

WARN: unrecognized 'param' tag in <include> tag

tag

What have I done wrong?

WARN: unrecognized 'node' tag in <include> tag

tag