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Sorry for a late reply. The project is rather big so before stripping off to a minimal example, I wonder how lower and u

How to ensure position limits in EffortJointInterface I have a robot arm defined in URDF file as: <limit lower="${-2

How to ensure position limits in EffortJointInterface I have a robot arm defined in URDF file as: <limit lower="${-2

Thanks again, it works now. I could not realize that these syntaxs are incompatible.

I try to set inertial parameters of the imported object in sdf. It seems it works for other people, however for me it results in warnings. Neither mass, nor moments of inertia, nor CoM are set in Gazebo. I use ROS Kinetic and Gazebo 7.0.0 under Ubuntu 16.04. What could be a problem here?

sdf file

<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="kitchen_spatula">
    <static>false</static>
    <link name="link">
      <pose>0 0 0 0 0 0</pose>
      <inertial>
    <origin rpy="0 0 0" xyz="0.13606 0.00000 0.02002"/>
    <mass value="0.14867"/>
    <inertia ixx="0.00016"
             ixy="0.00000"
             ixz="0.00030"
             iyy="0.00113"
             iyz="0.00000"
             izz="0.00106"/>
      </inertial>
      <visual name="visual">
    <pose>0 0 0 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://kitchen_spatula/low_poly_paddle.STL</uri>
        <!-- Whatever unit you use in stl, it will be treated as meters by Gazebo:
        http://answers.gazebosim.org/question/8294/mesh-scale-huge-for-stl-file/ -->
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
    <material>
      <script>
        <uri>file://media/materials/scripts/gazebo.material</uri>
        <name>Gazebo/Orange</name>
      </script>
    </material>
      </visual>
      <collision name="collision">
    <pose>0 0 0 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://kitchen_spatula/low_poly_paddle.STL</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
      </collision>
    </link>
  </model>
</sdf>

output:

[INFO] [1543493481.499131, 0.000000]: Loading model XML from ros parameter
[INFO] [1543493481.500796, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
Warning [parser.cc:778] XML Element[origin], child of element[inertial] not defined in SDF. Ignoring[origin]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:536] XML Attribute[value] in element[mass] not defined in SDF, ignoring.
Warning [parser.cc:536] XML Attribute[ixx] in element[inertia] not defined in SDF, ignoring.
Warning [parser.cc:536] XML Attribute[ixy] in element[inertia] not defined in SDF, ignoring.
Warning [parser.cc:536] XML Attribute[ixz] in element[inertia] not defined in SDF, ignoring.
Warning [parser.cc:536] XML Attribute[iyy] in element[inertia] not defined in SDF, ignoring.
Warning [parser.cc:536] XML Attribute[iyz] in element[inertia] not defined in SDF, ignoring.
Warning [parser.cc:536] XML Attribute[izz] in element[inertia] not defined in SDF, ignoring.
[ INFO] [1543493482.285987182, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1543493482.315061083, 0.049000000]: Physics dynamic reconfigure ready.

Thanks for help! I will check it next week and get back with result.

Warning [parser.cc:536] XML Attribute[***] in element[***] not defined in SDF, ignoring. I try to set inertial parameter