Non-fixed joint (revolute) unconnects and parts of the robot seem to jump randomly through space for a URDF model.

asked 2021-03-22 10:30:52 -0500

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Using theseSolidworks models I am trying to create a working Gazebo model of the mecadamic robot Meca500. I created a URDF model using http://wiki.ros.org/sw_urdf_exporter
The URDF model does not work properly with all links set to revolute, all the separate parts of the robot seems unconnect from each other and seem to randomly jump around in space (see picture below).

image description

However when I set the joint types to fixed the correct shape of the robot arm is simulated (though the joints cannot move) see the next picture below. image description

I have tried changing the meshes, and deleting parts of the robot but I haven’t found a possible solution on how to set the joint types to non-fixed an get a functional physical model of the robot. Do any of you know what could work? Or maybe even what is wrong with the URDF model?

I open the model via: • roslaunch gazebo_ros empty_world.launch paused:=true debug:=true • rosrun gazebo_ros spawn_model -file 2612-110-9980_robot_arm_step_assembly_version_5.urdf -urdf -x 0 -y 0 -z 1 -model test_robot

and this is the URDF model I use:

Note: I could only upload a file with a .yaml extension to use this model I changed the extension to '.urdf' 2612-110-9980_robot_arm_step_assembly_version_5.urdf

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