Hi. I am trying to create a simple cylindrical shape model for Gazebo. To do so, I just copy and edit the existing cylindrical.model in /simulator_gazebo/gazebo/gazebo/share/gazebo-1.0.2/models to the dimensions I want. However, the model dissappear the moment i inserted them in Gazebo.
This is my model file
<gazebo version="1.0">
<model name="cylinder">
<link name="link">
<origin pose="0 0 0.5 0 0 0"/>
<inertial mass="1.0">
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<collision name="collision">
<geometry>
<cylinder radius="0.127" length="1.245"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder radius="0.127" length="1.245"/>
</geometry>
<material script="Gazebo/Green"/>
</visual>
</link>
</model>
</gazebo>
After some reading up, it seems that my mistake is I did not create a mesh file for the new model I created. Is my guess correct?
If so, another question will be where should I place the mesh file at? The original cylinder.model did not seems to have a mesh file.
Thank you.
Originally posted by ChengXiang on Gazebo Answers with karma: 17 on 2012-12-22
Post score: 0
Original comments
Comment by hsu on 2013-01-11:
the cylinder as it is defined in your sdf intersects with the ground plane with 0.1225m of overlap. This translates to an impulse of erp * 0.1225m / dt to be applied to the model upwards. Given the position of link is 0.5m from the ground plane, changing cylinder length to 1.0m should help.
Comment by ChengXiang on 2013-01-19:
Thank you. i will try that.