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Spawning baxter.urdf not possible - Gazebo doesn't start: "Waiting for service.."

asked 2019-01-02 07:24:38 -0500

12melvin gravatar image

updated 2019-01-22 15:48:51 -0500

Carlos Agüero gravatar image


I just followed this tutorial:

First I typed in the terminal:

git clone

After that I tried to use the following command in the tutorial:

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

So this happens:

[rospack] Error: package 'baxter_description' not found
SpawnModel script started
[INFO] [1546435163.252531]: Loading model XML from file
[ERROR] [1546435163.253191]: Error: file does not exist /urdf/baxter.urdf

I changed the command with the absolut directory to:

rosrun gazebo_ros spawn_model -file /home/MYUSERNAME/baxter_common/baxter_description/urdf/baxter.urdf -urdf -z 1 -model baxter

But then Gazebo doesnt start and hang at Waiting for service:

SpawnModel script started
[INFO] [1546435269.803023]: Loading model XML from file
[INFO] [1546435269.803909]: Waiting for service /gazebo/spawn_urdf_model

I am a very new beginner and thankful for every help.

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1 Answer

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answered 2019-01-22 04:34:52 -0500

magole gravatar image

updated 2019-01-22 04:36:15 -0500

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

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Asked: 2019-01-02 07:24:38 -0500

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Last updated: Jan 22 '19