I found out a strange behaviour when spawning model in Gazebo.
I have an URDF model of a humanoid robot and a launch file where it is sapwned to Gazebo through model_spawn of the gazebo_ros package using -urdf flag:
<param name="robot_description"
command="$(find xacro)/xacro.py '$(find my_robot_description)/urdf/my_robot.xacro'"/>
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model my_robot -param robot_description"/>
In such a case, if I endow the URDF with a simple <gazebo> property as follows:
<gazebo>
<!-- robot model offset -->
<pose>0 0 0.5 0 0 0</pose>
</gazebo>
It doesn't affect my model in Gazebo, which generate a warning like this:
Warning [parser_urdf.cc:1232] multiple inconsistent <pose> exists due to fixed joint reduction overwriting previous value [0 0 0.5 0 0 0] with [0 0 0 0 -0 0].
However, if I convert the URDF first to SDF (using gz sdf -p my_robot.urdf) and spawn the SDF directly with the -sdf flag, this does not happen and everything works as expected.
Why does this happen? Is a problem of the URDF parser of Gazebo or I'm doing something wrong?
