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Models don't spawn inside a world

asked 2016-01-20 10:10:21 -0500

J_Schaefer gravatar image

Hello Gazebo-Users,

my target is to create a simulation with an UR5 and the Robotiq 85-Gripper. My simulation works quite fine. Now I try to insert a box that can be grabbed. Inside my world-file i wrote this:

<model name="Box4">
 <pose>0 0 2</pose>
 <link name="Box4_Link">
  <visual name="Box4_Visual">
   <size>1.05 1.05 1.05</size>
  <collision name="Box4_Collision">
   <size>0.05 0.05 0.05</size>

The problem is, that the simulation starts properly, with the robot an the tables, but without the box.

Is there a need to spawn it manually?

Best regards J_Schaefer

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answered 2016-01-20 11:39:27 -0500

J_Schaefer gravatar image

updated 2016-01-20 12:10:42 -0500

@nkoenig Thank you for your answer. I changed it. Still doesn't work.

I now saw that the model is loaded in Gazebo but not shown. It appears in the list of models, with size 0 0 0. When I manually change the values in Gazebo nothing happens. All the values (pose, size of visual) are set to 0. Is there another problem with Gazebo?

Update: With the latest changes made, it works. So minor mistakes and nothing works! Thank you very much, @nkoenig!

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answered 2016-01-20 10:39:09 -0500

nkoenig gravatar image

updated 2016-01-20 11:47:15 -0500

Try running gazebo in verbose mode: gazebo --verbose <world_file>.

You'll probably see a message about incorrect SDF syntax. For example, the second line of you SDF model should be this:

 <pose>0 0 2 0 0 0</pose>

The last three numbers represent roll, pitch, and yaw.

Everything else looks good, but I might have missed something.


Yup, your model had more than one problem. Did you run gazebo in verbose mode? I copied your model into a world, and gazebo outputs:

Error [] Error parsing XML in file [/data/gazebo_copy/worlds/]: Error reading end tag.
[Err] [] Unable to read sdf file[worlds/]

Looking at your model file, you need to properly close the <inertia> block. The <iyy> tag also is not closed properly.

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Asked: 2016-01-20 10:10:21 -0500

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Last updated: Jan 20 '16