URDF doesnt load in Gazebo 9

asked 2020-06-02 11:00:25 -0500

Hi all,

I have been trying to load my URDF of a Commonplace Robotics Mover6 into Gazebo from RViz. I have tried to follow this tutorial to the best of my knowledge and created the suggested file structure, world etc.

Unfortunately, when I run the launch file, Gazebo boots up, but the robot can not be seen. If I click on it in the file tree on the left-hand side, the whole program crashes, stating the following:

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org' gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed. Aborted (core dumped) [gazebo_gui-2] process has died [pid 27467, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/lee/.ros/log/53b56330-a4e1-11ea-a9e0-0c9d92c25afd/gazebo_gui-2.log]. log file: /home/lee/.ros/log/53b56330-a4e1-11ea-a9e0-0c9d92c25afd/gazebo_gui-2*.log

My Launch File:

<launch>
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find mover6_gazebo)/worlds/mover6.world"/>
    <!-- more default parameters can be changed here -->
  </include>
<!-- Convert an xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find mover6_description)/urdf/mover6.urdf.xacro" />

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model mover6" />
</launch>

My World File:

<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://gas_station</uri>
      <name>gas_station</name>
      <pose>-2.0 7.0 0 0 0 0</pose>
    </include>
  </world>
</sdf>

My URDF:

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="CPRMover6">

<!-- URDF file for the Commonplace Robotics Mover4 robot arm -->
<!-- Version 1.1 from Oct. 04th, 2016. -->

  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
          <mesh filename="package://mover6_description/meshes/Joint0.dae"  scale="0.001 0.001 0.001"/>
        </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
          <mesh filename="package://mover6_description/meshes/Joint0Coll.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="1"/>
      <inertia
        ixx="1.0" ixy="1.0" ixz="1.0"
        iyy="1.0" iyz="1.0"
        izz="1.0"/>
    </inertial>
    </collision>

  </link>
  <link name="link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
          <mesh filename="package://mover6_description/meshes/Joint1.dae"  scale="0.001 0.001 0.001"/>
        </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
          <mesh filename="package://mover6_description/meshes/Joint1Coll.dae" scale="0.001 0.001 0.001"/>
        </geometry>
    </collision>
    <inertial>
      <origin xyz="0 ...
(more)
edit retag flag offensive close merge delete