My robot cannot be displayed properly in the gazebo

asked 2022-08-12 04:24:31 -0500

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" ?>

<robot name="abb_irb1200_5_90" xmlns:xacro="http://ros.org/wiki/xacro"> <link name="base_link">

  <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 ...
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