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I had the same problem, and finally got it. Make sure you source the setup.bash of your workspace where you saved baxter package. First you should open a terminal and source the setup.bash of your ros distro (in my case is kinetic) and open gazebo, then open a new terminal and do the same for your workspace where you have baxter package and finally run the spawn command. Like this: -Terminal 1- $ source /opt/ros/"YourRosDistro"/setup.bash $ roslaunch gazebo_ros empty_world.launch (or maybe you prefer to run gazebo with another world) -Terminal 2- $ source ~/"PathToYourWorkspace"/devel/setup.bash $ rosrun gazebo_ros spawn_model -file rospack find baxter_description/urdf/baxter.urdf -urdf -z 1 -model baxter

This would work, check out this website where I found the solution for any doubt https://forum.humanbrainproject.eu/t/waiting-for-service-gazebo-spawn-urdf-model/468

I had the same problem, and finally got it. Make sure you source the setup.bash of your workspace where you saved baxter package. First you should open a terminal and source the setup.bash of your ros distro (in my case is kinetic) and open gazebo, then open a new terminal and do the same for your workspace where you have baxter package and finally run the spawn command. Like this: this:

-Terminal 1- $ source /opt/ros/"YourRosDistro"/setup.bash $ roslaunch gazebo_ros empty_world.launch (or maybe you prefer to run gazebo with another world) world)

-Terminal 2- $ source ~/"PathToYourWorkspace"/devel/setup.bash $ rosrun gazebo_ros spawn_model -file rospack find baxter_description/urdf/baxter.urdf -urdf -z 1 -model baxter

This would work, check out this website where I found the solution for any doubt https://forum.humanbrainproject.eu/t/waiting-for-service-gazebo-spawn-urdf-model/468

I had the same problem, and finally got it. Make sure you source the setup.bash of your workspace where you saved baxter package. First you should open a terminal and source the setup.bash of your ros distro (in my case is kinetic) and open gazebo, then open a new terminal and do the same for your workspace where you have baxter package and finally run the spawn command. Like this:

-Terminal 1- 1-

$ source /opt/ros/"YourRosDistro"/setup.bash /opt/ros/"YourRosDistro"/setup.bash

$ roslaunch gazebo_ros empty_world.launch (or maybe you prefer to run gazebo with another world)

-Terminal 2- 2-

$ source ~/"PathToYourWorkspace"/devel/setup.bash ~/"PathToYourWorkspace"/devel/setup.bash

$ rosrun gazebo_ros spawn_model -file rospack find baxter_description/urdf/baxter.urdf -urdf -z 1 -model baxter

This would work, check out this website where I found the solution for any doubt https://forum.humanbrainproject.eu/t/waiting-for-service-gazebo-spawn-urdf-model/468