Cannot spawn my urdf file in gazebo

asked 2021-11-04 14:22:51 -0600

FranJRO gravatar image

updated 2021-11-04 16:05:56 -0600

Hi! I want to spwn my own urdf file in gazebo, but it's been imposible. When I do the roslaunch this is the result:

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fjnar-MateBook:36831/

SUMMARY

========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    mybot_spawn (gazebo_ros/spawn_model)

auto-starting new master

process[master]: started with pid [8679]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 93a8e546-3d9e-11ec-b396-f85971503f0c
process[rosout-1]: started with pid [8715]

started core service [/rosout]
process[mybot_spawn-2]: started with pid [8728]
SpawnModel script started
No handlers could be found for logger "rosout"
[mybot_spawn-2] process has finished cleanly
log file: /home/fjnar/.ros/log/93a8e546-3d9e-11ec-b396-f85971503f0c/mybot_spawn-2*.lo
g

This is my spawn.launch file:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
      <param name="robot_description" command="cat '$(find accesrobot_simulation)/urdf/aspayn_room.urdf'" />

      <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
            args="-udf -param robot_description -model aspayn_room"/>
</launch>

And this is my urdf file:

<?xml version="1.0" ?>
<robot name="aspayn_closet_room">
  <joint name="aspayn_closet_room__link_1_JOINT_2" type="fixed">
    <parent link="aspayn_closet_room__link_1"/>
    <child link="aspayn_closet_room__link_2"/>
    <origin rpy="0  0  0" xyz="0.47903  0.11441  0.01"/>
    <axis xyz="0  0  0"/>
    <limit effort="0" lower="0" upper="0" velocity="0"/>
  </joint>
  <joint name="aspayn_closet_room__link_2_JOINT_3" type="prismatic">
    <parent link="aspayn_closet_room__link_2"/>
    <child link="aspayn_closet_room__link_3"/>
    <origin rpy="0  0  0" xyz="0.03   0     0.005"/>
    <axis xyz="0  1  0"/>
    <limit effort="1.0" lower="0.0" upper="0.86" velocity="1.0"/>
  </joint>
  <joint name="aspayn_closet_room__link_2_JOINT_4" type="prismatic">
    <parent link="aspayn_closet_room__link_2"/>
    <child link="aspayn_closet_room__link_4"/>
    <origin rpy="0  0  0" xyz="0.065  1.77   0.005"/>
    <axis xyz="0 -1  0"/>
    <limit effort="-1.0" lower="0.0" upper="0.73" velocity="-1.0"/>
  </joint>
  <link name="aspayn_closet_room__link_1">
    <inertial>
      <mass value="5000"/>
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <inertia ixx="0.166667" ixy="0" ixz="0" iyy="0.166667" iyz="0" izz="0.166667"/>
    </inertial>
    <collision name="aspayn_closet_room__collision">
      <origin rpy="0  0  0" xyz="-2.49097 -1.19558  0"/>
      <geometry>
        <mesh filename="package://PATHTOMESHES/tiago_public_ws/src/accesrobot/accesrobot_simulation/aspayn_room/meshes/ASPAYN_room.dae" scale="1 1 1"/>
      </geometry>
    </collision>
    <visual name="aspayn_closet_room__visual">
      <origin rpy="0  0  0" xyz="-2.49097 -1.19558  0"/>
      <geometry>
        <mesh filename="package://PATHTOMESHES/tiago_public_ws/src/accesrobot/accesrobot_simulation/aspayn_room/meshes/ASPAYN_room.dae" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <link name="aspayn_closet_room__link_2">
    <inertial>
      <mass value="3"/>
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <inertia ixx="0.166667" ixy="0" ixz="0" iyy="0.166667" iyz="0" izz="0.166667"/>
    </inertial>
    <collision name="aspayn_closet_room__collision">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://PATHTOMESHES/tiago_public_ws/src/accesrobot/accesrobot_simulation/aspayn_room/meshes/guides.dae" scale="1 1 1"/>
      </geometry>
    </collision>
    <visual name="aspayn_closet_room__visual">
      <origin rpy="0  0  0" xyz="0  0  0"/>
      <geometry>
        <mesh filename="package://PATHTOMESHES/tiago_public_ws/src/accesrobot/accesrobot_simulation/aspayn_room/meshes/guides.dae" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <link ...
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Comments

The launch file you posted has -udf instead of -urdf. Could that be the issue?

azeey gravatar imageazeey ( 2021-11-10 16:20:23 -0600 )edit