Dear Gazebo Users,

I have been working now in Gazebo for a while and managed to play around with the UR10 model by attaching some sensors to it and it all loaded fine, I wanted to make all my Simulation move so i decided to lunch it in ROS and Simulate it in Gazebo using these Commands:

roslaunch urgazebo ur10.launch limited:=true roslaunch ur10moveitconfig ur10moveitplanningexecution.launch sim:=true limited:=true roslaunch ur10moveitconfig moveit_rviz.launch config:=true

Then I got the error that it cannot find launch files! After Installing libsdfromat1 it worked just as it should however the Modified UR10.sdf didnt load up giving me this error:

Error [Converter.cc:127] Unable to convert from SDF version 1.5 to 1.4 Error [parser.cc:697] XML Element[useparentmodelframe], child of element[axis] not defined in SDF. Ignoring.[axis] Error [parser.cc:688] Error reading element Error [parser.cc:688] Error reading element Error [parser.cc:688] Error reading element Error [parser.cc:348] Unable to read element Error: Could not find the 'robot' element in the xml file at line 81 in /build/buildd/urdfdom-0.2.10+dfsg/urdfparser/src/model.cpp Error [parserurdf.cc:2608] Unable to call parseURDF on robot model Error [parser.cc:273] parse as old deprecated model file failed. Error [ModelMaker.cc:126] Unable to load file[/home/labor/.gazebo/models/UniversalRobot/ur10.sdf]

I thought i can overcome this Error by Installing the libsdformat2-dev, it did Solve the Problem for loading the Model in Gazebo but the commands

roslaunch urgazebo ur10.launch limited:=true roslaunch ur10moveitconfig ur10moveitplanningexecution.launch sim:=true limited:=true roslaunch ur10moveitconfig moveit_rviz.launch config:=true

Didn't work.

I decided to change the model.config (by adding the sdf model 1.4 line) and by changing the sdf version from 1.5 to 1.4. Tried to load the model again but i got the same error as above without the line saying: Error [Converter.cc:127] Unable to convert from SDF version 1.5 to 1.4

Is there anyone who can help me solve this problem.

Thank you very much! I hope the Question was as clear as possible.

Kind Regards ,

E.Raci - Automotive Systems Engineering/ University Heilbronn / Germany.

P.S How is it possible to load the Robot model i have modified for example ur10_modified.urdf in ROS. I want to move this Model and to see the Simulation in Gazebo