Pose for simple gripper and sensor in the tutorials in the wrong position

asked 2020-08-03 11:53:40 -0600

Arc170 gravatar image

Hi, I'm a newbie trying to learn this for my dissertation going through the tutorials. I have tried looking for answer to this question but couldn't find any and I was hoping someone could help.

In the attach a sensor to the robot and attach gripper to robot tutorials, when including a model using the <inlude> and <uri> functions, the pose function seems to be ignored, as when I load the model into Gazebo all the models load at the origin.

I am using Gazebo 11, Ros Noetic, in Ubuntu on VMware 15. Is there a known bug with this set up or am I just missing something obvious in the code and the tutorials are wrong?

<sdf version="1.5"> <model name="simple_mobile_manipulator">

<include>
  <uri>model://my_gripper</uri>
  <pose>1.3 0 0.1 0 0 0</pose>
</include>

<include>
  <uri>model://my_robot</uri>
  <pose>0 0 0 0 0 0</pose>
</include>

<joint name="arm_gripper_joint" type="fixed">
  <parent>mobile_base::chassis</parent>
  <child>simple_gripper::riser</child>
</joint>

<!-- attach sensor to the gripper -->
<include>
  <uri>model://hokuyo</uri>
  <pose>1.3 0 0.3 0 0 0</pose>
</include>

<joint name="hokuyo_joint" type="fixed">
  <child>hokuyo::link</child>
  <parent>simple_gripper::palm</parent>
</joint>

</model> </sdf>

Thank you!

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