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link position not in correct position

<robot name="blackBird">

<link name="body">

<visual>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
  </geometry>
  <material
    name="">
    <color
      rgba="0 1 0 1" />
  </material>
</visual>

<collision>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
  </geometry>
</collision>
<inertial>
  <mass value="0.0001"/>
  <inertia ixx="0.03410357" ixy="0.00003043" ixz="0.000043960" iyy="0.003279236" iyz="0.0" izz="0.000259210"/>
</inertial>

</link> <link name="blade"> <visual> <origin rpy="0 0 0" xyz="0 0 10"/> <geometry> <mesh filename="package://urdf_tutorial/meshes/blade.dae"/> </geometry> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> </visual>

<collision>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
  </geometry>
</collision>
<inertial>
  <mass value="0.0001"/>
  <inertia ixx="0.000251114" ixy="0.000002954" ixz="0.000185428" iyy="0.003055804" iyz="0.0" izz="0.002817239"/>
    </inertial>

  </link>

  <joint name="joint1" type="continuous">
    <parent link="body"/>
    <child link="blade"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0.105987 3.12205 12.4372"/>
  </joint>

</robot>

above is the urdf of model. here no matter how much i change the position of the link blade, it's position don't changes from one position. image description

link position not in correct position

urdf
kinetic

asked 4 mins ago dinesh gravatar image dinesh 210 ●50 ●84 ●113

<robot name="blackBird">

<link name="body">

<visual>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
  </geometry>
  <material
    name="">
    <color
      rgba="0 1 0 1" />
  </material>
</visual>

<collision>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
  </geometry>
</collision>
<inertial>
  <mass value="0.0001"/>
  <inertia ixx="0.03410357" ixy="0.00003043" ixz="0.000043960" iyy="0.003279236" iyz="0.0" izz="0.000259210"/>
</inertial>

</link> <link name="blade"> <visual> <origin rpy="0 0 0" xyz="0 0 10"/> <geometry> <mesh filename="package://urdf_tutorial/meshes/blade.dae"/> </geometry> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> </visual>

<collision>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
  </geometry>
</collision>
<inertial>
  <mass value="0.0001"/>
  <inertia ixx="0.000251114" ixy="0.000002954" ixz="0.000185428" iyy="0.003055804" iyz="0.0" izz="0.002817239"/>
</inertial>

</link>

<joint name="joint1" type="continuous"> <parent link="body"/> <child link="blade"/> <axis xyz="0 0 1"/> <origin xyz="0.105987 3.12205 12.4372"/> </joint>

</robot>

above is the urdf of model. here no matter how much i change the position of the link blade, it's position don't changes from one position. image description

what should i do? i have placed its position in blender correctly. i'm using gazebo 9. when i place its position as 0 0 0 its position comes correctely but the joint position is at 0 0 0. so the problem is when ever i change the position of the joint the position of the blade link also chagnes. in rviz the model with joint position 0 0 0: image description

link position not in correct position

<robot name="blackBird">

<link name="body">

  <link name="body">

    <visual>
   <geometry>
     <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
   </geometry>
   <material
     name="">
     <color
       rgba="0 1 0 1" />
   </material>
 </visual>

 <collision>
   <geometry>
     <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
   </geometry>
 </collision>
 <inertial>
   <mass value="0.0001"/>
   <inertia ixx="0.03410357" ixy="0.00003043" ixz="0.000043960" iyy="0.003279236" iyz="0.0" izz="0.000259210"/>
 </inertial>

</link> <link name="blade"> <visual> <origin rpy="0 0 0" xyz="0 0 10"/> <geometry> <mesh filename="package://urdf_tutorial/meshes/blade.dae"/> </geometry> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> </visual>

</visual>

    <collision>
   <geometry>
     <mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
   </geometry>
 </collision>
 <inertial>
   <mass value="0.0001"/>
   <inertia ixx="0.000251114" ixy="0.000002954" ixz="0.000185428" iyy="0.003055804" iyz="0.0" izz="0.002817239"/>
     </inertial>

   </link>

   <joint name="joint1" type="continuous">
     <parent link="body"/>
     <child link="blade"/>
     <axis xyz="0 0 1"/>
     <origin xyz="0.105987 3.12205 12.4372"/>
   </joint>

 </robot>

above is the urdf of model. here no matter how much i change the position of the link blade, it's position don't changes from one position. image description

link position not in correct position

urdf
kinetic

asked 4 mins ago dinesh gravatar image dinesh 210 ●50 ●84 ●113

<robot name="blackBird">

<link name="body">

<visual>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
  </geometry>
  <material
    name="">
    <color
      rgba="0 1 0 1" />
  </material>
</visual>

<collision>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
  </geometry>
</collision>
<inertial>
  <mass value="0.0001"/>
  <inertia ixx="0.03410357" ixy="0.00003043" ixz="0.000043960" iyy="0.003279236" iyz="0.0" izz="0.000259210"/>
</inertial>

</link> <link name="blade"> <visual> <origin rpy="0 0 0" xyz="0 0 10"/> <geometry> <mesh filename="package://urdf_tutorial/meshes/blade.dae"/> </geometry> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> </visual>

<collision>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
  </geometry>
</collision>
<inertial>
  <mass value="0.0001"/>
  <inertia ixx="0.000251114" ixy="0.000002954" ixz="0.000185428" iyy="0.003055804" iyz="0.0" izz="0.002817239"/>
</inertial>

</link>

<joint name="joint1" type="continuous"> <parent link="body"/> <child link="blade"/> <axis xyz="0 0 1"/> <origin xyz="0.105987 3.12205 12.4372"/> </joint>

</robot>

above is the urdf of model. here no matter how much i change the position of the link blade, it's position don't changes from one position. image description

what should i do? i have placed its position in blender correctly. i'm using gazebo 9. when i place its position as 0 0 0 its position comes correctely but the joint position is at 0 0 0. so the problem is when ever i change the position of the joint the position of the blade link also chagnes. in rviz the model with joint position 0 0 0: image description