How to spawn a model on ROS Groovy Gazebo without falling down?
I use ROS Groovy and ubuntu 12.04.
I can successfully adding a table on gazebo.
I also can spawn a coke_can object stable without falling down on a table.
But when I spawn the testtubeshelf.urdf, it fall down everytime.
How to fix it?
Thank you~
The following is the details.
coke_can.urdf :
<robot name="coke_can_model">
<link name="coke_can">
<inertial>
<mass value="0.1" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0.06" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<visual>
<!-- visual origin is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 -0.18" rpy="0 0 0" />
<geometry>
<mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/coke_can.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<!-- collision origin is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 -0.18" rpy="0 0 0" />
<geometry>
<mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/coke_can.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<gazebo reference="coke_can">
<material>Gazebo/Red</material>
<turnGravityOff>false</turnGravityOff>
<kp>100000000.0</kp>
<kd>1000000.0</kd>
</gazebo>
</robot>
Here is the dae file link.
testtubeshelf.urdf :
<robot name="test_tube_shelf_model">
<link name="test_tube_shelf">
<inertial>
<mass value="0.1" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0.06" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<visual>
<!-- visual origin is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/test_tube_shelf.dae" scale="0.1 0.1 0.1" />
</geometry>
</visual>
<collision>
<!-- collision origin is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/test_tube_shelf.dae" scale="0.1 0.1 0.1" />
</geometry>
</collision>
</link>
<gazebo reference=" test_tube_shelf ">
<material>Gazebo/Red</material>
<turnGravityOff>false</turnGravityOff>
<kp>100000000.0</kp>
<kd>1000000.0</kd>
</gazebo>
</robot>
testtubeshelf.dae :
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.65.0 r52859</authoring_tool>
</contributor>
<created>2014-07-25T10:15:56</created>
<modified>2014-07-25T10:15:56</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_effects/>
<library_geometries>
<geometry id="Square_Rack-mesh" name="Square Rack">
<mesh>
<source id="Square_Rack-mesh-positions">
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</polylist>
</mesh>
<extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Square_Rack" name="Square_Rack" type="NODE">
<translate sid="location">0 -2.353208 0</translate>
<rotate sid="rotationZ">0 0 1 0</rotate>
<rotate sid="rotationY">0 1 0 0</rotate>
<rotate sid="rotationX">1 0 0 0</rotate>
<scale sid="scale">0.1 0.1 0.1</scale>
<instance_geometry url="#Square_Rack-mesh"/>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
I spawn coke_can.urdf by:
rosrun gazebo spawn_model -urdf -file `rospack find sam_pr2_lab_auto_scene_6`/urdf/coke_can.urdf -model coke_can_1 -x 0.7 -z 0.6
I spawn testtubeshelf.urdf by:
rosrun gazebo spawn_model -urdf -file `rospack find sam_pr2_lab_auto_scene_6`/urdf/test_tube_shelf.urdf -model test_tube_shelf -x 0.7 -z 1.0
Asked by sam on 2014-08-02 06:10:06 UTC
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