Spawning a URDF model in Ignition Fortress fails

asked 2022-04-30 08:09:27 -0600

Illuminatur gravatar image

Dear community,

i am trying to spawn a URDF model inside Ignition Fortress. My minimal example URDF cyclinder_example.urdf models a cylinder:

<?xml version="1.0"?>
<robot name="my_first_robot">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
    </visual>
  </link>
</robot>

and is executed inside a launch file:

[...]
<include file="$(find ros_ign_gazebo)/launch/ign_gazebo.launch">
    <arg name="ign_args" value="$(arg ign_args) $(find my_pkg)/worlds/$(arg ign_world).sdf"/>
</include>

  <node pkg="ros_ign_gazebo" type="create" name="$(anon ros_ign_create_cylinder)" output="$(arg output)"
args="-world $(arg ign_world) -file $(arg model) -name spawned -x $(arg pos_x) -y $(arg pos_y) -z $(arg pos_z)">
  </node>
[...]

Then, i obtain the following error:

 [Err] [UserCommands.cc:1184] Error Code 16: Msg: A model must have at least one link.
 [Err] [UserCommands.cc:1184] Error Code 16: Msg: A model must have at least one link.
 [Err] [UserCommands.cc:1184] Error Code 24: Msg: FrameAttachedToGraph error: scope context name[] does not match __model__ or world.

Most probably, this seems to be caused by a wrong conversion from URDF to SDF error-referenced function, see UserCommands.cc#1184:

bool CreateCommand::Execute()
{
  auto createMsg = dynamic_cast<const msgs::EntityFactory *>(this->msg);
  if (nullptr == createMsg)
  {
    ignerr << "Internal error, null create message" << std::endl;
    return false;
  }

  // Load SDF
  sdf::Root root;
  sdf::Light lightSdf;
  sdf::Errors errors;
  switch (createMsg->from_case())
  {
    case msgs::EntityFactory::kSdf:
    {
      errors = root.LoadSdfString(createMsg->sdf());
      break;
    }
 [...]

Any ideas how this could be solved?

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Comments

Can you try adding a mass to the link? The URDF->SDFormat conversion removes links without masses.

azeey gravatar imageazeey ( 2022-04-30 12:26:35 -0600 )edit