Can't see my model in GZClient

asked 2016-11-18 10:21:07 -0600

nikku gravatar image

Hi. I'm quite new to Gazebo. I'm using the following system Ubuntu 14.04 ROS Indigo Gazebo 2.2.3

I went trough some tutorials on how to build a gazebo model. I wanted to create a robot (4 wheeled car) but somehow the model doesn't appear in the GUI of Gazebo. There aren't any errors though when using roslaunch to simulate the model.

My robots urdf file looks as follows

<?xml version="1.0"?>
   <robot name="erod" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:property name="wheel_width" value="0.195"/>
<xacro:property name="wheel_radius" value="0.28"/>
<xacro:property name="chassis_width" value="1.22"/>
<xacro:property name="chassis_length" value="3"/>
<xacro:property name="chassis_height" value="0.5"/>
<xacro:property name="wheel_base" value="2.347"/>
<xacro:property name="track_width" value="1.6"/>
<xacro:property name="ground_clearance" value="0.15"/>
<xacro:property name="cg_pos_x" value="0.75"/>
<xacro:property name="cg_pos_z" value="0.5"/>
<xacro:property name="wheel_I_rr" value="1000"/>s
<xacro:property name="wheel_I_yy" value="1000"/>
<xacro:property name="wheel_mass" value="20"/>
<xacro:property name="wheel_mu1" value="200"/>
<xacro:property name="wheel_mu2" value="200"/>
<xacro:property name="chassis_I_xx" value="1000"/>
<xacro:property name="chassis_I_yy" value="1000"/>
<xacro:property name="chassis_I_zz" value="1000"/>
<xacro:property name="chassis_mass" value="520"/>

<xacro:include filename="$(find erod_description)/urdf/erod.gazebo" />
<xacro:include filename="$(find erod_description)/urdf/materials.xacro" />

<link name="footprint" />

<joint name="base_joint" type="fixed">
    <parent link='footprint'/>
    <child link='chassis'/>
</joint>

<link name="chassis">
    <collision> 
            <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/> 
            <geometry> 
                <box size="${chassis_length} ${chassis_width} ${chassis_height}"/> 
            </geometry> 
    </collision>
    <visual> 
            <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/> 
            <geometry> 
                <box size="${chassis_length} ${chassis_width} ${chassis_height}"/> 
            </geometry> 
            <material name="orange"/>
    </visual>
    <inertia> 
    <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/> 
        <mass value="${chassis_mass}"/> 
        <box_inertia m="${chassis_mass}" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}"/>
    </inertia>
</link>

</robot>

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