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Using SDFormat for development after Gz-Garden is installed causes SDFormat install issues

I am trying to understand how to work with the SDFormat (specifically libsdformat-dev) Ubuntu package while also having Gazebo Garden installed locally. Gazebo Garden relies on the package ...
Jack's user avatar
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2 answers
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What is the best practice to use dynamic names/variables in the sdf files? [closed]

NOTE: This is an open discussion and might not have a particular answer or can have multiple answers. Hello, I was trying to do a multi-robot simulation using ROS 2 humble and GZ-harmonic. I want to ...
aarsht7's user avatar
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1 answer
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How to translate or apply force to a single link in a model in Ignition Gazebo Fortress?

I have a model with multiple links and I would like to move one link to a particular pose either in translate mode or by applying forces. How to do it in Ignition Fortress ? I saw the tutorials. It ...
vbalaji21's user avatar
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1 answer
53 views

rviz2 mesh visulization error while using GZ harmonic + ROS 2 humble

I am trying to use gz harmonic with ros2 humble, and I am stuck on rviz2 part. Gazebo and ros_gz_bridge are working well, and I am able to visualize the topics in rviz2 but not the model meshes. I am ...
aarsht7's user avatar
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1 answer
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re-use model in SDF file, more than name and pose

I'm trying to write a world by reusing models as much as I can. The world contains 2 similar models "PublicBathroomA" and "PublicBathroomB". They differ in few things, pose and ...
SebL's user avatar
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1 answer
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How to simulate torsional friction in Gazebo Sim like in Gazebo Classic?

In Gazebo Classic, it was possible to assign torsional friction to objects, as explained here https://classic.gazebosim.org/tutorials?tut=torsional_friction&cat=physics. However, when I follow the ...
robo_q's user avatar
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How to pass parameters to sdf file from launch file similar to XACROS?

I am converting a model in XACROS/URDF to SDF and launching the model with launch file in roslaunch. I was able to convert the model. However to run the model I need to pass the parameters to the ...
vbalaji21's user avatar
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1 answer
34 views

Why URDF is preferred for ROS and SDF is preferred for Gazebo ? What is the full detail reasoning behind it?

I have 2 models one in URDF and another in SDF. I want to combine them together. While doing so, I was reading about these 2 formats and I want to know the main difference between these 2 based on ...
vbalaji21's user avatar
0 votes
1 answer
12 views

Restrictions of multiple links per model

If i have a model with two links, one containing a visual and the other containing the collider, the colliders won't be considered, and it will fall through everything. Modified model from the shapes....
azazdeaz's user avatar
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How to reuse code inside sdf format of a model in gazebo to write bigger models?

I am building a bigger model in sdf for gazebo. I have many similar links with only variation in their pose and all other parameters are same. Is there any way to reuse code of the links ? I have ...
vbalaji21's user avatar
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26 views

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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1 answer
63 views

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
0 votes
2 answers
46 views

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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0 answers
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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, ...
Hem92j's user avatar
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0 answers
39 views

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
26 views

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
359 views

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 [...
uber_robo's user avatar
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0 answers
38 views

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
3 votes
1 answer
171 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
0 votes
1 answer
190 views

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, ...
user avatar
0 votes
1 answer
415 views

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
5 views

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
7 views

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
0 votes
1 answer
6 views

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
0 votes
1 answer
103 views

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 ...
user avatar
0 votes
1 answer
4 views

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? ...
user avatar
0 votes
1 answer
32 views

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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1 answer
2 views

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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0 votes
1 answer
10 views

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 ...
user avatar
0 votes
1 answer
18 views

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: ...
user avatar
0 votes
1 answer
36 views

Loading a sdf file in gazebo

I am loading a sdf file. But when loading it gives a following error ...
user avatar
0 votes
1 answer
8 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: ...
user avatar
0 votes
1 answer
1 view

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 ...
user avatar
0 votes
1 answer
11 views

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: ...
user avatar
0 votes
1 answer
274 views

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 ...
user avatar
0 votes
1 answer
3 views

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 ...
user avatar
0 votes
1 answer
33 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 ...
user avatar
0 votes
1 answer
33 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 ...
user avatar
0 votes
1 answer
5 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 ...
user avatar
0 votes
1 answer
12 views

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 ...
user avatar
0 votes
1 answer
56 views

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 ...
user avatar
0 votes
1 answer
27 views

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 ...
user avatar
0 votes
1 answer
14 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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0 votes
1 answer
26 views

"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: ...
user avatar
0 votes
1 answer
50 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 ...
user avatar
0 votes
1 answer
3 views

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 ...
user avatar
0 votes
1 answer
18 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
0 votes
1 answer
1 view

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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0 votes
1 answer
4 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'...
user avatar