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Reading your question, it wasn't very clear whether the robot is starting too far up, and therefore falling from the sky, or too far down, and therefore it is inside the ground. It might be a good idea to start Gazebo paused to check what's the initial pose of the robot.

How are you spawning your robot? You mentioned xacro, so I assume you're using ROS? Possibly the spawn_model script? In that case, you might want to check out this tutorial. You can specify the initial x, y, z coordinates of your model as arguments to the script, for example:

<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find robot_description)/urdf/robot.urdf -urdf -x 1 -y 1 -z 10 -model robot" />