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My robot cannot be displayed properly in the gazebo

Hello, I want to add RG2 gripper to ABB irb1200 robot and do some tests in Gazebo environment. I created a package from my URDF file using Moveit Setup Assistant. After making some changes like turning off the gravity and adding inertia data to make it work in Gazebo, I tried to run it. However, I couldn't get it to look properly in the Gazebo. There is no problem when I view it from Rviz. What could be the problem? I'm new to ROS and Gazebo.

I'm working with ROS Kinetic and Gazebo 7.

It also gives the error below when I run the launch file. I don't know if it is relevant.

image description

Here is the gazebo screen. image description

Here is the Rviz screen.

image description

And here is the URDF file.

<?xml version="1.0" ?>

<!-- link list --> 

  <inertial>
    <mass value="13.7742"/>
    <origin xyz="-0.028986 0.000596 0.11273"/>
    <inertia ixx="0.101998" ixy="0.000495482" ixz="0.000311158" iyy="0.13969" iyz="-0.000245375" izz="0.130433"/>
  </inertial>

  <visual name="visual">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/visual/base_link.dae" />
    </geometry>
    <material name="yellow">
      <color rgba="1 1 0 1" />
    </material>
  </visual>
    <collision name="collision">
      <geometry>
        <mesh filename="file:/root/catkin_ws/irb1200/collision/base_link.stl" />
      </geometry>

    </collision>

</link>
<link name="link_1">

  <inertial>
    <mass value="11.8419"/>
    <origin xyz="0.000877 -0.000631 -0.062883"/>
    <inertia ixx="0.11194" ixy="-4.54988e-05" ixz="0.000280961" iyy="0.0915159" iyz="-0.000109905" izz="0.0876456"/>
  </inertial>

  <visual name="visual">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/visual/link_1.dae" />
    </geometry>
    <material name="yellow" />
  </visual>
  <collision name="collision">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/collision/link_1.stl" />
    </geometry>

  </collision>
</link>
<link name="link_2">

  <inertial>
    <mass value="17.5394"/>
    <origin xyz="-0.000928 -0.000497 0.250051"/>
    <inertia ixx="0.493558" ixy="1.32136e-05" ixz="0.000209024" iyy="0.462939" iyz="-0.00179901" izz="0.0894214"/>
  </inertial>

  <visual name="visual">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/visual/link_2.dae" />
    </geometry>
    <material name="yellow" />
  </visual>
  <collision name="collision">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/collision/link_2.stl" />
    </geometry>

  </collision>
</link>
<link name="link_3">

  <inertial>
    <mass value="7.46365"/>
    <origin xyz="0.099588 0.001143 0.032333"/>
    <inertia ixx="0.0252424" ixy="0.000142737" ixz="-0.00565542" iyy="0.0906438" iyz="0.000142213" izz="0.0825079"/>
  </inertial>

  <visual name="visual">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/visual/link_3.dae" />
    </geometry>
    <material name="yellow" />
  </visual>
  <collision name="collision">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/collision/link_3.stl" />
    </geometry>

  </collision>
</link>
<link name="link_4">

  <inertial>
    <mass value="2.74436"/>
    <origin xyz="0.381678 0.001261 0.005168"/>
    <inertia ixx="0.00573099" ixy="-0.000131119" ixz="0.000380232" iyy="0.0118352" iyz="-2.26565e-05" izz="0.0114428"/>
  </inertial>

  <visual name="visual">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/visual/link_4.dae" />
    </geometry>
    <material name="yellow" />
  </visual>
  <collision name="collision">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/collision/link_4.stl" />
    </geometry>

  </collision>
</link>
<link name="link_5">

  <inertial>
    <mass value="0.62953"/>
    <origin xyz="0.011197 -0.001056 0.000109"/>
    <inertia ixx="0.000502815" ixy="-1.03173e-05" ixz="-8.74347e-08" iyy="0.00108856" iyz="2.07657e-07" izz="0.000918873"/>
  </inertial>

  <visual name="visual">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/visual/link_5.dae" />
    </geometry>
    <material name="yellow" />
  </visual>
  <collision name="collision">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/collision/link_5.stl" />
    </geometry>

  </collision>
</link>
<link name="link_6">

  <inertial>
    <mass value="0.137"/>
    <origin xyz="-0.00706 -0.00017 -1.32E-06" rpy="0 0 0"/>
    <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
  </inertial>

  <visual name="visual">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/visual/link_6.dae" />
    </geometry>
    <material name="yellow" />
  </visual>
  <collision name="collision">
    <geometry>
      <mesh filename="file:/root/catkin_ws/irb1200/collision/link_6.stl" />
    </geometry>

    </collision>
</link>
<!-- end of link list -->
<!-- Hand Links -->
<!-- joint list -->
<link name="rg2_hand">

  <inertial>
    <mass value="0.2" />
    <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
  </inertial>

  <visual name="rg2_hand_visual">
    <geometry>
      <mesh filename="file:/root/catkin_w/visual/rg2/hand.dae" />
    </geometry>
  </visual>
</link>
<link name="rg2_leftfinger">

  <inertial>
    <mass value="0.1" />
    <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
  </inertial>

  <visual>
    <geometry>
      <mesh filename="file:/root/catkin_w/visual/rg2/finger.dae" />
    </geometry>
  </visual>
  <collision>
    <geometry>
      <mesh filename="file:/root/catkin_w/collision/rg2/finger.dae" />
    </geometry>
  </collision>
</link>
<link name="rg2_rightfinger">

  <inertial>
    <mass value="0.1" />
    <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
  </inertial>

  <visual>
    <origin rpy="3.141592653589793 0 0" xyz="0 0 0" />
    <geometry>
      <mesh filename="file:/root/catkin_w/visual/rg2/finger.dae" />
    </geometry>
  </visual>
  <collision>
    <origin rpy="3.141592653589793 0 0" xyz="0 0 0" />
    <geometry>
      <mesh filename="file:/root/catkin_w/collision/rg2/finger.dae" />
    </geometry>
    </collision>
</link>
<!-- end of link list -->
<joint name="ur5_hand_joint" type="fixed">
    <parent link="link_6" />
    <child link="rg2_hand" />
    <limit lower="0" upper="0" effort="0" velocity="0" />
    <dynamics damping="1.0" friction="0.1" />
</joint>
<!-- Hand Links -->
<!-- joint list -->
<joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.3991" />
    <axis xyz="0 0 1" />
    <parent link="base_link" />
    <child link="link_1" />
    <limit effort="1000" lower="-2.967" upper="2.967" velocity="5.027" />
    <dynamics damping="50.0" friction="1" />
</joint>
<joint name="joint_2" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <axis xyz="0 1 0" />
    <parent link="link_1" />
    <child link="link_2" />
    <limit effort="1000" lower="-1.745" upper="2.269" velocity="4.189" />
    <dynamics damping="50" friction="1" />
</joint>
<joint name="joint_3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.448" />
    <axis xyz="0 1 0" />
    <parent link="link_2" />
    <child link="link_3" />
    <limit effort="1000" lower="-3.491" upper="1.222" velocity="5.236" />
    <dynamics damping="10" friction="1" />
</joint>
<joint name="joint_4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.042" />
    <axis xyz="1 0 0" />
    <parent link="link_3" />
    <child link="link_4" />
    <limit effort="1000" lower="-4.712" upper="4.712" velocity="6.981" />
    <dynamics damping="5.0" friction="1" />
</joint>
<joint name="joint_5" type="revolute">
    <origin rpy="0 0 0" xyz="0.451 0 0 " />
    <axis xyz="0 1 0" />
    <parent link="link_4" />
    <child link="link_5" />
    <limit effort="1000" lower="-2.269" upper="2.269" velocity="7.069" />
    <dynamics damping="2.0" friction="1" />
</joint>
<joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0.082 0 0 " />
    <axis xyz="1 0 0" />
    <parent link="link_5" />
    <child link="link_6" />
    <limit effort="1000" lower="-6.283" upper="6.283" velocity="10.472" />
    <dynamics damping="1.0" friction="1" />
</joint>
<joint name="joint_6-tool0" type="fixed">
    <parent link="link_6" />
    <child link="tool0" />
    <origin rpy="0 1.57079632679 0" xyz="0 0 0" />
</joint>
<!-- end of joint list -->
<!-- ROS base_link to ABB World Coordinates transform -->
<link name="world" />
<joint name="world_to_base_link_joint" type="fixed">
  <parent link="world" />
  <child link="base_link" />
</joint>
<link name="base" />
<joint name="base_link-base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="base_link" />
    <child link="base" />
</joint>
<!-- Finger Joints -->
<joint name="rg2_finger_joint1" type="revolute">
    <parent link="rg2_hand" />
    <child link="rg2_leftfinger" />
    <origin rpy="0 0 0" xyz="0.105 0.017 0" />
    <axis xyz="0 0 1" />
    <dynamics damping="1.0" friction="0.1" />
    <limit effort="10.6" lower="0.0" upper="1.18" velocity="1.57" />
</joint>
<joint name="rg2_finger_joint2" type="revolute">
    <parent link="rg2_hand" />
    <child link="rg2_rightfinger" />
    <origin rpy="0 0 0" xyz="0.105 -0.017 0" />
    <axis xyz="0 0 -1" />
    <limit effort="10.6" lower="0.0" upper="1.18" velocity="1.57" />
    <dynamics damping="1.0" friction="0.1" />
</joint>
<!-- End-effector -->
<link name="tool0" />
<joint name="end_effector_frame_fixed_joint" type="fixed">
    <parent link="link_6" />
    <child link="tool0" />
    <origin xyz="0 0.275 0" rpy="-1.570796325 0 0" />
    <dynamics damping="10" friction="1.0"/>
</joint>

<transmission name="trans_joint_1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_1">

    </joint>
    <actuator name="joint_1_motor">

        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
<transmission name="trans_joint_2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_2">

    </joint>
    <actuator name="joint_2_motor">

        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
<transmission name="trans_joint_3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_3">

    </joint>
    <actuator name="joint_3_motor">

        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
<transmission name="trans_joint_4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_4">

    </joint>
    <actuator name="joint_4_motor">

        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
<transmission name="trans_joint_5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_5">

    </joint>
    <actuator name="joint_5_motor">

        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
<transmission name="trans_joint_6">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_6">

    </joint>
    <actuator name="joint_6_motor">

        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
<transmission name="trans_rg2_finger_joint1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rg2_finger_joint1">

    </joint>
    <actuator name="rg2_finger_joint1_motor">

        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
<transmission name="trans_rg2_finger_joint2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rg2_finger_joint2">

    </joint>
    <actuator name="rg2_finger_joint2_motor">

        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
<gazebo reference="base_link">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_1">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_2">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_3">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_4">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_5">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_6">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rg2_hand">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rg2_leftfinger">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rg2_rightfinger">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="tool0">
  <turnGravityOff>true</turnGravityOff>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        <robotNamespace>/</robotNamespace>
        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
</gazebo>

Asked by erenguldal on 2022-08-12 04:24:31 UTC

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