R2D2 urdf moving in Rviz but not Gazebo

Question

Hi all,

I can load my r2d2 urdf from the urdf tutorials in both Gazebo and Rviz. However, in RViz the model is moving in a circle and in Gazebo it is stationary. Why is this so?

Thank you

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Originally posted by tangell on ROS Answers with karma: 15 on 2012-11-07

Post score: 0

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Original comments

Comment by Lorenz on 2012-11-07:
Not enough information. How does your set up look like?

Comment by tangell on 2012-11-07:
I'm not sure what kind of information you're looking for?

Comment by Po-Jen Lai on 2012-11-07:
For example, what tutorial did you follow? How do you move the models in rviz?

Comment by Lorenz on 2012-11-07:
Also which launch files are you running? Which ROS distribution? See http://ros.org/wiki/Support

Comment by tangell on 2012-11-07:
I'm using ROS fuerte and I followed this tutorial:

http://www.ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher

I'm using the state and launch file from that page. I changed model.xml to model.urdf and made the launch file look for model.urdf instead of model.xml.

Answer 1

The R2D2 Tutorials publish information to /tf, which is visualized in rviz. It does NOT simulate the motors and other functionality for it to be fully simulated in Gazebo.

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Originally posted by David Lu with karma: 10932 on 2012-11-07

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by tangell on 2012-11-07:
So when a robot is able to be simulated in Gazebo and Rviz, what kind of extra information or files are being used?

Comment by David Lu on 2012-11-07:
You need to specify the controllers for the different joints.

Comment by tangell on 2012-11-07:
Can you give me an example?

Comment by David Lu on 2012-11-08:
Alas, I have not myself mastered the Gazebo half of model building. However, I can recommend checking out how other robot models do it, such as http://ros.org/wiki/erratic_description

Comment by tangell on 2012-11-09:
I found this : http://answers.ros.org/question/9628/moving-a-robot-in-gazebo/
it looks like it might point in the right direction for that.