Hi,
I am trying out ignition-gazebo and tried migrating my own robot. i can see the robot in gazebo but when i type ign topic -l, nothing displays on my terminal. I am trying to add IMU to my imu link that i wrote myself. Strangely, when converting from urdf to sdf, the fixed links are all combined into base_link as visuals only..?
This is the sdf for my robot:
<?xml version="1.0" ?>
<sdf version='1.9'>
<world name="mobile_base_arm_world">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="ignition-gazebo-imu-system"
name="ignition::gazebo::systems::Imu">
</plugin>
<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/mobile_base_arm_world/control</service>
<stats_topic>/world/mobile_base_arm_world/stats</stats_topic>
</plugin>
<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/mobile_base_arm_world/stats</topic>
</plugin>
<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
</plugin>
<!-- KeyPublisher plugin-->
<plugin filename="KeyPublisher" name="Key Publisher"/>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<model name='mobile_base_arm'>
<link name='base_link'>
<inertial>
<pose>0.003300089599108126 -0.007011142805224647 0.05420472189833921 0 0 0</pose>
<mass>0.509189922631763</mass>
<inertia>
<ixx>0.001703159163787929</ixx>
<ixy>0.0003808192202099451</ixy>
<ixz>-9.421534187442308e-05</ixz>
<iyy>0.002086036036924227</iyy>
<iyz>5.959024066529462e-05</iyz>
<izz>0.003677410794031453</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/base_link.STL</uri>
</mesh>
</geometry>
</collision>
<!-- <collision name='base_link_fixed_joint_lump__MPU9250_fl_collision_1'>
<pose>0.08268 0.08247500000000001 0.11257 0 0 -1.5707963267948966</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/MPU9250_fl.STL</uri>
</mesh>
</geometry>
</collision> -->
<collision name='base_link_fixed_joint_lump__jetson_nano_collision_2'>
<pose>-0.061339 0.039423 0.02155 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/jetson_nano.STL</uri>
</mesh>
</geometry>
</collision>
<collision name='base_link_fixed_joint_lump__lidar_link_collision_3'>
<pose>0.04568 -0.059204 0.0658 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/lidar_link.STL</uri>
</mesh>
</geometry>
</collision>
<visual name='base_link_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/base_link.STL</uri>
</mesh>
</geometry>
<material>
<diffuse>1 0.625 0 1</diffuse>
<ambient>1 0.625 0 1</ambient>
</material>
</visual>
<!-- <visual name='base_link_fixed_joint_lump__MPU9250_fl_visual_1'>
<pose>0.08268 0.08247500000000001 0.11257 0 0 -1.5708</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/MPU9250_fl.STL</uri>
</mesh>
</geometry>
<material>
<diffuse>0.1462499983608723 0.7062499970197678 1 1</diffuse>
<ambient>0.1462499983608723 0.7062499970197678 1 1</ambient>
</material>
</visual> -->
<visual name='base_link_fixed_joint_lump__jetson_nano_visual_2'>
<pose>-0.061339 0.039423 0.02155 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/jetson_nano.STL</uri>
</mesh>
</geometry>
<material>
<diffuse>0 0 0 1</diffuse>
<ambient>0 0 0 1</ambient>
</material>
</visual>
<visual name='base_link_fixed_joint_lump__lidar_link_visual_3'>
<pose>0.04568 -0.059204 0.0658 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/lidar_link.STL</uri>
</mesh>
</geometry>
<material>
<diffuse>0 0 1 1</diffuse>
<ambient>0 0 1 1</ambient>
</material>
</visual>
</link>
<joint name='MPU9250_fl_joint' type='fixed'>
<pose relative_to='base_link'>0.08268 0.082475 0.11257 0 0 -1.5707963267948966</pose>
<parent>base_link</parent>
<child>MPU9250_fl_link</child>
</joint>
<link name='MPU9250_fl_link'>
<pose relative_to='MPU9250_fl_joint'>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.00062885</mass>
<inertia>
<ixx>2.8418E-08</ixx>
<ixy>-4.5775E-14</ixy>
<ixz>-3.7528E-14</ixz>
<iyy>1.0661E-08</iyy>
<iyz>4.2588E-14</iyz>
<izz>3.7595E-08</izz>
</inertia>
</inertial>
<collision name='MPU9520_fl_collision'>
<pose>0.08268 0.08247500000000001 0.11257 0 0 -1.5707963267948966</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/MPU9250_fl.STL</uri>
</mesh>
</geometry>
</collision>
<visual name='MPU9250_fl_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/MPU9250_fl.STL</uri>
</mesh>
</geometry>
<material>
<diffuse>0.1462499983608723 0.7062499970197678 1 1</diffuse>
<ambient>0.1462499983608723 0.7062499970197678 1 1</ambient>
</material>
</visual>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>1</update_rate>
<visualize>true</visualize>
<topic>imu</topic>
</sensor>
</link>
.......other parts of my robot model........
</world>
</sdf>
