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URDF model moving away whenever launched in Gazebo

asked 2017-07-15 03:40:34 -0600

ajay gravatar image

Whenever i try to load my URDF (with Gazebo sensor Pluigns), the model spawn's successfully but it moves away weirdly like in this video

This is my urdf and i have also attached my launch file

I googled but unable to figure out what mistake i did, hope some one clears it ...! :)

Thank your for your response in advance.

<?xml version="1.0"?>
<robot
  name="hdf_model">
  <link name="footprint" />

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

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.0710712962197142 -0.000137753873757876 -0.0472356807568853"
        rpy="0 0 0" />
      <mass
        value="2.8968201286225" />
      <inertia
        ixx="0.0435515415861913"
        ixy="-7.54353183930224E-05"
        ixz="-0.0120679749993695"
        iyy="0.0775488218939522"
        iyz="3.02473586563858E-05"
        izz="0.105083705856808" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://hdf_model/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://hdf_model/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>              

  <link
    name="front_left_wheel_link">
    <inertial>
      <origin
        xyz="0 -6.3295189589585E-07 0"
        rpy="0 0 0" />
      <mass
        value="0.482131555796721" />
      <inertia
        ixx="0.000893944886202995"
        ixy="-4.51240238343766E-20"
        ixz="1.17525821431534E-20"
        iyy="0.00168163508591572"
        iyz="-3.96864618172625E-21"
        izz="0.000893944886202995" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://hdf_model/meshes/front_left_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://hdf_model/meshes/front_left_wheel_link.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="front_left_wheel_joint"
    type="continuous">
    <origin
      xyz="-0.0774999999999994 0.1925 -0.0930000000000001"
      rpy="1.29699056065384E-16 0.000304917468774119 3.60306029014719E-15" />
    <parent
      link="base_link" />
    <child
      link="front_left_wheel_link" />
    <axis
      xyz="0 -1 0" />
  </joint>

  <link
    name="front_right_wheel_link">
    <inertial>
      <origin
        xyz="0 -6.3295189589585E-07 0"
        rpy="0 0 0" />
      <mass
        value="0.482131555796721" />
      <inertia
        ixx="0.000893944886202993"
        ixy="-2.15673142206335E-20"
        ixz="-1.62630325872826E-19"
        iyy="0.00168163508591572"
        iyz="1.16692499357991E-20"
        izz="0.000893944886202994" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://hdf_model/meshes/front_right_wheel_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.294117647058824 0.294117647058824 0.294117647058824 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://hdf_model/meshes/front_right_wheel_link.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="front_right_wheel_joint"
    type="continuous">
    <origin
      xyz="-0.0774999999999989 -0.192500000000001 -0.0930000000000001"
      rpy="1.54507720819671E-16 -0.580624336864947 3.51749903859331E-15" />
    <parent
      link="base_link" />
    <child
      link="front_right_wheel_link" />
    <axis
      xyz="0 -1 0" />
  </joint>

  <link
    name="laser_link">
    <inertial>
      <origin
        xyz="-8.54230302427539E-05 6.72214995819098E-05 0.0299775216686896"
        rpy="0 0 0" />
      <mass
        value="0.149621221992963" />
      <inertia
        ixx="8.91590299505418E-05"
        ixy="8.67289898114126E-08"
        ixz="4.3986338046771E-08"
        iyy="8.93716564388956E-05"
        iyz="-2.34056549904993E-07"
        izz="5.2029602781235E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://hdf_model/meshes/laser_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy ...
(more)
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Comments

1

I had problems with a misbehaving robot arm shortly. It was shaking. It stoped after lowering the mass. Try to change your parameters in your URDF. Also isolating the Problem by removing parts could help.

Panda1638 gravatar imagePanda1638 ( 2017-07-19 05:15:52 -0600 )edit

1 Answer

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answered 2017-07-19 08:53:51 -0600

nkoenig gravatar image

Based on your video, it looks like there is no ground plane. This would cause the model to fall directly down.

Take a look at your hdf.world file. You can add a ground plane in that file using the following:

<include> <uri>model://ground_plane</uri> </include>

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Comments

Yeah, i didn't include the ground plane properly, problem got resolved, thank you...!

ajay gravatar imageajay ( 2017-07-19 08:59:51 -0600 )edit
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Asked: 2017-07-15 03:40:34 -0600

Seen: 221 times

Last updated: Jul 19 '17