# gazebo import robot gives error

I'm trying to import the tutorial robot given at this link

However this gives the following error:

Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
Error [parser_urdf.cc:2635] Unable to call parseURDF on robot model
Error [parser.cc:278] parse as old deprecated model file failed.
Error [parser_urdf.cc:2635] Unable to call parseURDF on robot model
Error [parser.cc:278] parse as old deprecated model file failed.

Error [parser.cc:278] parse as old deprecated model file failed.


This sugest something is wrong with parsing but does not actually point towards any line of my code (the example is only 103 lines long).

    <link name='chassis'>
<pose>0 0 .1 0 0 0</pose>
<collision name='collision'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</collision>

<visual name='visual'>
<geometry>
<box>
<size>.4 .2 .1</size>
</box>
</geometry>
</visual>

<collision name='caster_collision'>
<pose>-0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>.05</radius>
</sphere>
</geometry>

<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>

<visual name='caster_visual'>
<pose>-0.15 0 -0.05 0 0 0</pose>
<geometry>
<sphere>
<radius>.05</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="left_wheel">
<pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>

<link name="right_wheel">
<pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
<collision name="collision">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>.1</radius>
<length>.05</length>
</cylinder>
</geometry>
</visual>
</link>
<joint type="revolute" name="left_wheel_hinge">
<pose>0 0 -0.03 0 0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>

<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
</model>
</sdf>


This is on ubuntu 14.04. Is there any hint at what I'm doing wrong or what information can I provide to better come to a solution

## 2 Answers

I found the solution, I should just have looked better at the tutorial as I missed a few lines of code.

• It would be better to include what code is missing, in case somebody else in the future comes across this question! Oct 20 '14 at 13:05

For someone who will investigate this issue.

If you created a model with two link but without joint between them, you will get parse issue:

Error [parser_urdf.cc:XXXX] Unable to call parseURDF on robot model
Error [parser.cc:XXX] parse as old deprecated model file failed.