Can't fix a base in Gazebo properly

Hi people, I am trying something straight-forward, but can't seem to get it right. I try to fix a base in the world and then add another link on that base. This is the URDF code:

If I try to launch this in Gazebo, I get: Error [parser_urdf.cc:3474] Unable to call parseURDF on robot model Error [parser.cc:341] parse as old deprecated model file failed.

If I remove the base link and its joint to the "root" link, it works. Or if I remove the root link and fix the "base" link directly to "world" it works again, but again if I then try to add another link on "base", it won't work.

Asked by Jim Chai on 2020-10-05 03:18:26 UTC

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Answers

Are you passing your description through xacro? You have a macro in your inertial.

Asked by nlamprian on 2020-10-06 04:51:24 UTC

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Yes I am. In the end I made it work by writing all of the "world fixing" in sdf code inside tags, but it makes zero sense to me why the urdf code wasn't working

Asked by Jim Chai on 2020-10-11 08:23:36 UTC