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Cannot spawn Solidworks generated urdf model to gazebo.

asked 2020-01-26 23:52:19 -0600

Michael1973 gravatar image

Dear SIrs, I have tried all I know to spawn a model created using Solidworks to Gazebo for simulation. The urdf file has been exported using a tool for creating urdf files inside Soliworks.

The urdf file is the following:

<!--
 This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter 
-->
<robot name="robot_urdf">
<link name="robot_base">
<inertial>
<origin xyz="0.152 -0.0625420962769482 0.00703464237079188" rpy="0 0 0"/>
<mass value="0.328439502632123"/>
<inertia ixx="0.00166317188204101" ixy="5.84339679477964E-19" ixz="1.91934869525446E-20" iyy="0.00265002456943154" iyz="0.000616470492128439" izz="0.00376104038840237"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://robot_urdf/meshes/robot_base.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://robot_urdf/meshes/robot_base.STL"/>
</geometry>
</collision>
</link>
<joint name="j4" type="continuous">
<origin xyz="0.15591 -0.075981 -0.0035605" rpy="0.41868 0 3.1416"/>
<parent link="robot_base"/>
<child link="w4"/>
<axis xyz="1 0 0"/>
</joint>
<link name="w1">
<inertial>
<origin xyz="0.014 0 -3.4694E-18" rpy="0 0 0"/>
<mass value="0.061522"/>
<inertia ixx="5.5443E-05" ixy="8.9343E-21" ixz="-4.0706E-22" iyy="3.0092E-05" iyz="-5.0822E-21" izz="3.0092E-05"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://robot_urdf/meshes/w1.STL"/>
</geometry>
<material name="">
<color rgba="0.29804 0.29804 0.29804 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://robot_urdf/meshes/w1.STL"/>
</geometry>
</collision>
</link>
<joint name="j1" type="revolute">
<origin xyz="0.304 -0.109634968085994 0.0487870246354819" rpy="2.14240707483869 0 0"/>
<parent link="robot_base"/>
<child link="w1"/>
<axis xyz="1 0 0"/>
<limit lower="0" upper="0" effort="0" velocity="0"/>
</joint>
<link name="w2">
<inertial>
<origin xyz="-0.014 1.0408E-17 0" rpy="0 0 0"/>
<mass value="0.061522"/>
<inertia ixx="5.5443E-05" ixy="-1.8201E-20" ixz="6.2244E-21" iyy="3.0092E-05" iyz="-5.9292E-21" izz="3.0092E-05"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://robot_urdf/meshes/w2.STL"/>
</geometry>
<material name="">
<color rgba="0.29804 0.29804 0.29804 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://robot_urdf/meshes/w2.STL"/>
</geometry>
</collision>
</link>
<joint name="j2" type="revolute">
<origin xyz="-3.58147028304556E-05 -0.109634968085994 0.0487870246354823" rpy="-2.3203312160931 0 0"/>
<parent link="robot_base"/>
<child link="w2"/>
<axis xyz="1 0 0"/>
<limit lower="0" upper="0" effort="0" velocity="0"/>
</joint>
<link name="w3">
<inertial>
<origin xyz="0.014 -3.4694E-18 -1.3878E-17" rpy="0 0 0"/>
<mass value="0.061522"/>
<inertia ixx="5.5443E-05" ixy="6.5784E-21" ixz="-2.0743E-21" iyy="3.0092E-05" iyz="-1 ...
(more)
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answered 2020-02-02 11:11:50 -0600

nlamprian gravatar image

You have two joints with the name j4.

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Asked: 2020-01-26 12:56:35 -0600

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Last updated: Feb 02