Questions tagged [sdformat]

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What's this error from a closed kinematic chain in gazebo?

I was implementing closed kinematic chains for my URDF by including an SDF description of the robot's links and joints within the gazebo tag. The URDF and robot ...
Victor's user avatar
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Inertia Element Conversion Issues in URDF to SDF in ROS2 Iron (Worked in Galactic)

I am encountering an issue in ROS2 Iron that wasn't present in ROS2 Galactic, related to the conversion of a URDF file (generated from XACRO) to SDF, specifically regarding the inertia elements. I am ...
Marcus Vinicius's user avatar
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2 answers
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Gazebo custom model structure

How can I organize the model structure when using gazebo? I have a world file which include a robot with ...
Max's user avatar
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How to publish sdf file in moveit2?

I am using ros2 humble with gazebo fortress. I want to publish a plannig scene(/planning scene world, not sure which topic)in the moveit2. I have a sdf file of the world which includes some objects, ...
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how can i create a fire using Ignition Gazebo

i am trying to create a Fire in our world .we want a real fire it could be detected by thermal camera and also other sensors. I used particle emitter to create fire.But the thermal camera couldn’t ...
amin antony's user avatar
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1 answer
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no module named 'importSDF' error in RobotCreator

I want to create a world (a school maybe) to simulate multiple robots navigating in there and trying to create a map for that school (I am using ROS2 Humble on Ubuntu 22.04). So, the first simulator ...
abdo Salm's user avatar
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1 answer
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Spawning an Sdf Model in ROS humble

I have created an Object using Blender and was able to add the Add to the Path File in Ros Humble Gazebo it worked, how to open the same SDF file using Python Launch file.
Kedar's user avatar
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Error ("Bodynode mass zero negative") while running other sim engines in Gazebo

While launching a world through Gazebo while using 'dart' sim engine, I see the following error : [gzserver-1] Warning [BodyNode.cpp:498] [BodyNode] A negative or zero mass [0] is set to BodyNode [...
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Dynamic Box Model - Gazebo and ROS

guys. I'm new to ROS and Gazebo and was trying to do a project with Turtlebot3. I was trying to add a box model and would like it to constantly move around the map. However, when opening the ...
Caíque_Viana's user avatar
2 votes
1 answer
154 views

How to implement self-locking motor in Gazebo/SDF?

I have a model with a few joints controlled by self-locking motors. The joints can be prismatic or revolute, but the real robot has a very high gear ratio in the motors, so the joints are basically ...
Martin Pecka's user avatar
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1 answer
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Some questions about <uri> in sdf files

Hi to all. I was reading the Gazebo documentation and I have some questions to which I was not able to find an answer neither in the documentation nor on the forums. As far I as I have understood, ...
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How to convert an URDF to SDF with Gazebo Ignition?

Hello, In Gazebo classic I could convert URDF to SDF using gz sdf -p /my_urdf.urdf > /my_sdf.sdf. But it seems Gazebo Ignition doesn't install this tool. How do ...
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1 answer
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Why does this thruster have a sideways component?

I am using the thruster plugin for ignition gazebo and publish a constant thrust to it of 0.1. The joint is offset from the center by -0.1 in the y-direction and rotated by -1.57079632679 around the y-...
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1 answer
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Is there a way to use model's name as a reference for a plugin's topic? (Citadel or Fortress)

For example, the current section: ...
Garrett Fogerlie's user avatar
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1 answer
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Why can't my UDFR be like my SDF in rviz? (REALLY LONG POST)

So, basically...I learned that ROS2 foxy does not support SDF with plugins and ROS2. So, I had to re-update one for URDF instead of SDF. I made SDF enitrely from Gazebo11. So, the question is why can'...
Garrett Fogerlie's user avatar
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1 answer
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Not able to simulate my sdf file in ignition gazebo

Continuing the question from https://community.gazebosim.org/t/not-able-to-simulate-my-sdf-file-in-ignition-gazebo/813 I was trying to simulate an animal(file attached below) in ignition gazebo by ...
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Reference paper for SDFormat (citation in bibliography)

Hi there, my question is not related to Gazebo itself, so I am not sure that this is the right place to ask my question: how should I cite the SDFormat in the bibliography of a scientific article? ...
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FrameAttachedToGraph error when spawning robot from URDF

Hello, I am trying to spawn franka emika panda's arm and hand (or even just the arm) from gazebo_ros spawn model, but the scene stays empty, the model list on the left part of the gui lists the name ...
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What does <axis><xyz expressed_in="some_frame"> mean, and how can I check my math with Gazebo?

Using SDFormat 1.7 I'm trying to use <joint><axis><xyz expressed_in="some_frame"> and check my understanding using Gazebo 11, but I'm ...
Shane Loretz's user avatar
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Error: lidar is not defined in SDF, ignoring lidar

Hello. I'm new to Gazebo and I'm trying to create a 2D-lidar sensor and connect in later on with ROS. Following the tutorial [http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i1] I created ...
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1 answer
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adding multiple sensors to SDF model

Hey, I'm modifying Iris drone from px4 stack and I not sure how to add multiple sensors. Now my SDF file is like this: ...
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1 answer
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Loading a sdf file in gazebo

I am loading a sdf file. But when loading it gives a following error ...
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1 answer
6 views

Custom attributes in SDF files

Is it possible to add custom attributes to SDF elements other than plugins? For example should I be able to do: ...
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1 answer
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models within a box are jittery. How to prevent the vibration?

I am trying to make a box that contains multiple balls. However as soon as I add a second layer of balls, the balls in the first layer begin to vibrate. Is there any specific values that i need to add ...
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1 answer
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World doesn't load properly in launch file

I'm using Gazebo 9.6.0 and ROS Melodic in Ubuntu 18.04. I have this launch file: ...
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1 answer
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Warning [parser.cc:536] XML Attribute[***] in element[***] not defined in SDF, ignoring

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 ...
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1 answer
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Running Gazebo without being superuser

Hello everyone, I am going to run Gazebo7 on Ubuntu 16.04. I installed it with ros-kinetic-desktop-full. The command 'sudo gazebo' works without problems. The ...
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1 answer
21 views

Converting URDF to SDF: <preserveFixedJoint> not working

I am trying to convert a robot specified in URDF into SDF by using the URDF parser from Gazebo (gz sdf -p in.urdf > out.sdf). By default, links connected by fixed joints in URDF get lumped together ...
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1 answer
12 views

Gazebo crashes when SDF model is spawned through launch file

I have a problem with spawning an SDF model (it is based on mesh), basically it is just a model of a table. I've tried this method link text of conversing SDF into URDF and then loading them both into ...
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1 answer
2 views

What does the sensor tag do?

I understand a link tag adds a block of matter into the simulation. The joint tag adds a connection between the two links. But what does the sensor tag actually do? When look at this chunk of code for ...
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1 answer
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Insert sdf at coordinates

Hello, Is it possible to insert an sdf file at specific coordinates in Gazebo? For instance the origin? All I can seem to do is select my model from the insert tab and then manually place it in the ...
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1 answer
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SDF: How to fix a model to the world?

Hello, So I've set up an arm model in an SDF file and have input correct values for mass, CoM, and inertia tensor, but am having trouble figuring out how to fix the arm to the world. I have tried ...
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1 answer
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How to create a curved road using <road> tag from SDF version 1.6 in Gazebo?

This question and its answer provides a way to create a straight road in gazebo: http://answers.gazebosim.org/question/18565/how-to-make-a-simple-straight-road-in-gazebo/ How should I modify this to ...
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1 answer
8 views

Where does gazebo search for the root.sdf file?

Hi together, I compiled gazebo 9.0.0 from source with reference to sdformat 6.0.0. Now when I try to start the gzserver with the world "worlds/empty.world" I get the following error: ...
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1 answer
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"gzserver: symbol lookup error" when launching Gazebo in Ubuntu 16.04

I have just installed ROS kinetic and Gazebo 7.12.0 in Ubuntu 16.04. When I launch gazebo from terminal I get the following error: ...
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1 answer
33 views

add sensor in urdf from gazebo model database

Hi, In gazebo, there are already available models (insert tab) which you can simply insert in your scene. I am having trouble with using it with my urdf model. I want to add velodyne to my robot. But ...
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1 answer
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Strange effect when importing DAE model retrieved on the web

Hi all, I'm trying to enlarge my models database by retrieving models from the 3D warehouse. As a reference I'm following this tutorial. And the procedure I follow to generate a COLLADA model is the ...
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1 answer
10 views

spawn world after gzserver start

Hello, I would like to know if it's possible to spawn a world (sdf .world file) once gazebo is launched. I tried to use the service /gazebo/spawn_sdf_model but I ...
GuillaumeB's user avatar
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1 answer
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Manipulator model bugging out

This is a followup to the question here: http://answers.gazebosim.org/question/17153/manipulator-joint-constraints/ I can't seem to figure out how the fourth link causes problems depicted here, when ...
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1 answer
2 views

Manipulator joint constraints

Hi, i am trying to implement a manipulator inside gazebo, by writing my own SDF file. I have written the geometry and joint basing on existing examples, but when I spawn the robot, it goes limp. I can'...
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1 answer
4 views

Problem with reading inertia values from sdf in Gazebo

Hi there, I have a problem with defining inertia in the model sdf file. Everything is as in the code below, but when I import the model into Gazebo, it seems as if the program disregards everything in ...
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1 answer
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Is there an example of a revolute2 (double hinge) joint used in an SDF?

I am looking for an example about how to use a revolute2 joint. I do not find any in tutorials. Only simple hinges. I am a bit confused about who is the child and who is the parent link (suppose a car ...
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1 answer
8 views

What part of the sdf file is sdf::ElementPtr in the load() function?

Suppose we have a Sdf file .world, like this one: ...
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1 answer
20 views

What's up with SDF, URDF, model and world files? How do I convert URDF to SDF?

When would you use each of the file types and how do you convert between them? Originally posted by Andrew Hundt on Gazebo Answers with karma: 1 on 2017-06-05 Post score: 0
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1 answer
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Spawn SDF and control joints

I have an SDF file of a robot, and would like to be able to control it's joints in the same way as shown in the tutorial here. The reason why I need this is that I need gearbox joints in my model, ...
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1 answer
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inertial settings not working

My world file my_task.world is: ...
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1 answer
4 views

How to set joint axis for both parts attached to a hinge?

Hi, I'm trying to implement an interface to a different physics engine than the four already available in Gazebo. In my case, an axis must be specified for each part attached to the joint. For ...
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1 answer
6 views

How to create a joint with sensor programatically?

I'm trying to create a joint from a plugin code that would look as follows: ...
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1 answer
6 views

Connect SDF model to ROS

Hello, since I'm a newbie in ROS and Gazebo I'm having trouble to find some tutorial or someone who could explain how to connect a robot SDF model to ROS so that I could acquire sensor data. Is there ...
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1 answer
13 views

Tools to validate SDF files with

Hi, I'm following the Gazebo tutorials on making a model. I decided to manually write the SDF file instead of copy pasting from the tutorial, so that I would learn better. I am now attempting to load ...
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