How to display arm robot in gazebo

asked 2021-04-27 10:22:44 -0500

dev4all12358 gravatar image

Hello,

I download the github repos of Franka Emika for ros: https://github.com/frankaemika/franka...

The arm is visible in rviz with robot_description. I want to display it in gazebo. I modified the frank_control.launch like this:

<?xml version="1.0" ?>
<launch>
  <arg name="robot_ip" />
  <arg name="load_gripper" default="true" />

  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />


  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="recording" value="false"/>
    <arg name="debug" value="false"/>
  </include>

  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
    args="-urdf -model panda_arm -param robot_description"/>


  <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
  <!-- <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/> -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
  <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
    <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
    <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
    <param name="rate" value="30"/>
  </node>
</launch>

In gazebo this is a robot named panda_arm but it is not visible and when I click on it there that error:

[urdf_spawner-4] process has finished cleanly
log file: /home/tom/.ros/log/88077204-a76a-11eb-9be1-f8ac651fc63d/urdf_spawner-4*.log
gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
Aborted (core dumped)
[gazebo_gui-3] process has died [pid 3375, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/tom/.ros/log/88077204-a76a-11eb-9be1-f8ac651fc63d/gazebo_gui-3.log].
log file: /home/tom/.ros/log/88077204-a76a-11eb-9be1-f8ac651fc63d/gazebo_gui-3*.log

There is no more log available. The file gazebo_gui is not available.

Can someone give me advices at least to find ros log.

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