Why is my robot arm not moving in gazebo or rviz?

asked 2021-03-04 17:10:49 -0500

I'm trying to simulate an ABB4600 robot in gazebo using the joint_position_controllers. I can successfully spawn the robot into an empty world and load the controllers. However, when I try to command one of the joints to a desired angle, the robot does not move in the gazebo simulation. I checked rviz as well and the robot likewise does not move in rviz. I've attached the xacro file for the robot and the launch/config files I'm using for the controller. I'd greatly appreciate any help!

Xacro File:

 <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:macro name="abb_irb4600_60_205" params="prefix">
     <!-- Import Gazebo elements, including Gazebo colors -->
  <!-- <xacro:include filename="$(find abb_irb4600_support)/urdf/irb4600_60_205.gazebo" /> -->
    <!-- link list -->
    <link name="${prefix}base_link">
      <inertial>
            <mass value="1.634" />
            <origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
            <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
        </inertial>
      <collision name="collision">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/base_link.stl"/>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/base_link.stl"/>
        </geometry>
        <material name="yellow">
          <color rgba="1 1 0 1"/>
        </material>
      </visual>
    </link>
    <link name="${prefix}link_1">
      <inertial>
            <mass value="1.634" />
            <origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
            <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
        </inertial>
      <collision name="collision">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_1.stl"/>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_1.stl"/>
        </geometry>
        <material name="yellow"/>
      </visual>
    </link>
    <link name="${prefix}link_2">
      <inertial>
            <mass value="1.634" />
            <origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
            <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
        </inertial>
      <collision name="collision">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_2.stl"/>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_2.stl"/>
        </geometry>
        <material name="yellow"/>
      </visual>
    </link>
    <link name="${prefix}link_3">
      <inertial>
            <mass value="1.634" />
            <origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
            <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
        </inertial>
      <collision name="collision">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_3.stl"/>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_3.stl"/>
        </geometry>
        <material name="yellow"/>
      </visual>
    </link>
    <link name="${prefix}link_4">
      <inertial>
            <mass value="1.634" />
            <origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
            <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
        </inertial>
      <collision name="collision">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_4.stl"/>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_4.stl"/>
        </geometry>
        <material name="yellow"/>
      </visual>
    </link>
    <link name="${prefix}link_5">
      <inertial>
            <mass value="1.634" />
            <origin xyz="0 ...
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