Error Gazebo URDF Opening

edit

gazebo_worlds was last used in groovy. It looks like you're using hydro, so you should use some example launch files from hydro.

both the launch file (empty_world.launch) and model spawning script (spawn_model) are now in a package called gazebo_ros, so try replacing

<launch>
  <include
    file="$(find gazebo_worlds)/launch/empty_world.world" />
  <node
    name="tf_footprint_base"
    pkg="tf"
    type="static_transform_publisher"
    args="0 0 0 0 0 0 base_link base_footprint 40" />
  <node
    name="spawn_model"
    pkg="gazebo"
    type="spawn_model"
    args="-file $(find hexapod_launch)/robots/hexapod_launch.URDF-urdf -model hexapod_launch"
    output="screen" />
  <node
    name="fake_joint_calibration"
    pkg="rostopic"
    type="rostopic"
    args="pub /calibrated std_msgs/Bool true" />
</launch>

with

<launch>
  <include
    file="$(find gazebo_ros)/launch/empty_world.launch" />
  <node
    name="tf_footprint_base"
    pkg="tf"
    type="static_transform_publisher"
    args="0 0 0 0 0 0 base_link base_footprint 40" />
  <node
    name="spawn_model"
    pkg="gazebo_ros"
    type="spawn_model"
    args="-file $(find hexapod_launch)/robots/hexapod_launch.URDF-urdf -model hexapod_launch"
    output="screen" />
  <node
    name="fake_joint_calibration"
    pkg="rostopic"
    type="rostopic"
    args="pub /calibrated std_msgs/Bool true" />
</launch>

that should get you past the errors you posted

ResourceNotFound: gazebo_worlds

and

ERROR: cannot launch node of type [gazebo/spawn_model]: gazebo

You can try loading your model without ROS by doing:

1. Locate your URDF file.
2. Run: gz sdf -p REPLACE_WITH_URDF_FILE > model.sdf

3. Create a world file with:

   <?xml version="1.0" ?>
   <sdf version="1.5">
     <world name="default">
       <include><uri>model://sun</uri></include>
       <include><uri>model://ground_plane</uri></include>
       COPY THE CONTENTS OF model.sdf HERE
     </world>
   </sdf>
   

4. Run gazebo: gazebo THE_WORLD_FILE_CREATED_IN_STEP3