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Can't fix a base in Gazebo properly

asked 2020-10-05 03:18:26 -0500

Jim Chai gravatar image

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:

<link name="root"/> <link name="world"/>

<joint name="world_fix" type="fixed"> <parent link="world"/> <child link="root"/> <origin xyz="0 0 0" rpy="0 0 0"/> </joint>

<link name="base"> <inertial> <mass value="0.1"/> <origin xyz="0 0 0" rpy="0 0 0"/> <xacro:cylinder_inertia radius="0.05" length="0.1" mass="0.1"/> </inertial> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <cylinder radius="0.05" length="0.1"/> </geometry> </collision> <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <cylinder radius="0.05" length="0.1"/> </geometry> <material name="grey"> <color rgba="1 1 1 1"/> </material> </visual> </link>

<joint name="base_fix" type="fixed"> <parent name="root"/> <child name="base"/> <origin xyz="0 0 0" rpy="0 0 0"/> <axis xyz="0 0 1"/> <limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0"/> </joint>

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.

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answered 2020-10-06 04:51:24 -0500

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

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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 <gazebo> tags, but it makes zero sense to me why the urdf code wasn't working

Jim Chai gravatar imageJim Chai ( 2020-10-11 08:23:36 -0500 )edit

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Asked: 2020-10-05 03:18:26 -0500

Seen: 177 times

Last updated: Oct 06 '20