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i am trying to load my depth cam model in gazebo,and it is falling down immediately

asked 2022-05-15 10:10:12 -0500

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the model

<sdf version="1.5">
<model name="my_model">
    <link name="camera_depth_frame">
        <pose>0.12 0 0.65 -1.5708 0 -1.5708</pose>

    <link name="camera_link">
         <pose>0.12 0 0.65 0 0 0</pose>

        <visual name="camera_visual">
            <pose>-0.005 0 0 0 0 0</pose>
                    <size>0.015 0.08 0.022</size>
                <ambient>0 0 0 1.0</ambient>
                <diffuse>0 0 0 1.0</diffuse>
                <specular>0.0 0.0 0.0 1.0</specular>
                <emissive>0.0 0.0 0.0 1.0</emissive>

        <sensor name="depth_camera" type="camera">
            <camera name="camera">
                    <!-- Noise is sampled independently per pixel on each frame.
                           That pixel's noise value is added to each of its color
                           channels, which at that point lie in the range [0,1]. -->
            <plugin name="depth_camera_controller" filename="">
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answered 2022-05-18 05:00:59 -0500

Veerachart gravatar image

Since the model's static is not given, it's false, meaning that gravity will pull it down, and your camera ends up free-falling. A collision can help stopping it on the ground (if you have a ground with collision in your world).

Also you have 2 links in your model, if they are not static, you need to connect them with a joint (can be a fixed joint). Otherwise, one link may also fall away from the other if only one of them has a collision to hit the ground.

Note that if you plan to include this model into another non-static model later, the static flag will be overwritten, and the 2 links will be disconnected if you choose to stop them from falling by setting it static.

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Asked: 2022-05-15 10:10:12 -0500

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Last updated: May 18