Questions tagged [urdf]

Unified Robotics Description Format, URDF, is an XML specification used in academia and industry to model multibody systems such as robotic manipulator arms for manufacturing assembly lines and animatronic robots for amusement parks.

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Robot not loading on gazebo

My Robot is not loading on Gazebo although loading fine on rviz2. Below is my code. On gazebo, only leg_link is loading not any other links. Although on the side ...
Fc0001's user avatar
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when I display my urdf exported from SolidWorks on gazebo my model excavator takes few steps back ,then it stays still

I have tried to add friction tag to control it,this way can not solve the problem.Then I tried to add transmission,added differential_drive_controller,publish cmd_vel topic,trying to control it.All of ...
yz x's user avatar
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Problem in spawning URDF file export from solidworks to gazebo with ROS2

I have a problem in spawning the robot which is made with solidworks_urdf_exporter. The robot is able to view in RVIZ but gazebo was crash when i spawned it. I dont know is that the problem with the ...
Nguyễn Đức Thịnh's user avatar
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How to combine two robot models in gazebo?

I have two robots, one is P3Dx and the other is Kinova Gen3 lite. I want to create a mobile manipulator combining these two robots. I have the respective packages and they contain the URDF files. How ...
Ashutosh Sahu M22RM001's user avatar
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Implementing Gazebo's plowing model in my <robot> urdf file

In my previous question (Trouble trying to implement Gazebo's plowing model), I tried to make the plowing approximation (https://github.com/gazebosim/gazebo-classic/pull/3164/files) tests work as ...
Tanaunt's user avatar
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2 answers
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Why does URDF use Euler angle to represent rotation?

To describe the rotation between tow links, why does URDF use Euler Angle instead of quaternion or axis-angle to describe the rotation? Since there might be singularity issue or gimbal lock in the ...
Ben's user avatar
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Pybullet docking Endeffector

i am simulating 6R robot arm in Pybullet on the Endeffector a tool is attached(Cylinder) the robot should initiate docking using this tool(cylinder) to another object which is a cylinder and empty ...
locki's user avatar
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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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In urdf tutorial(r2d2), rivz showed `global status:Frame [map] does not exist

Both launch files worked fine, but in rviz it showed global status:Frame [map] does not exist. Results of searching the rviz environment storage file ...
ertretff's user avatar
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Unable to use code to plan the robotic arm, although I have configured moveit and can perform drag planning in rviz

This is my first time asking a question and I don't know what I need to provide to describe the problem as clearly as possible, in simple terms like the title I really don't understand why I can't use ...
liujia yuan's user avatar
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how to create urdf?

When creating urdf. 1.I have a 3D model file, but I do not want to be required to make a large calculation due to collision confirmation when creating a trajectory. Is this an important issue, and is ...
ertretff's user avatar
2 votes
1 answer
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Export URDF to an 3D model

I'm trying to export an URDF to a 3D model, I can only find ways to do it the opposite way. The URDF consist out of basic geometory, any help would be expreciated.
Coen H's user avatar
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How to keep Gazebo open and load new changes to it from URDF file?

I have a launch file for gazebo that works fine in terms of loading the robot into the world. But the problem I have is that I have to keep ending Gazebo in terminal by using CTRL + C and then wait ...
Balen's user avatar
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OpenRAVE IKFast scipy error

I'm attempting to use the python app pyikfast to generate an analytic solution to my 6 DOF arm. I was able to successfully run the pyikfast solver on the PUMA 560 arm so I know the solver can work. It ...
MAP3's user avatar
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Gazebo_ros launch

all !! Try to do first project https://github.com/Dizog84/articubot_one making all as joshnewans teach) youtube articulatedrobotics.xyz Steps before I have 22.04 Ubuntu LTS ros2-humble Stay on second ...
Dizog Dizog's user avatar
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3 answers
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AttributeError: module 'xml' has no attribute 'parsers'

I try to visualize turtlebot2 urdf in ros2 humble by following the command ros2 launch urdf_tutorial display.launch.py model:=turtlebot2.urdf. I source my both ...
Mubahsir's user avatar
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How to fix no transform from left and right drive wheels of the mobile robot to map in rviz2 in RPS2?

I have mobile robot publish /cmd_vel topic from Roboteq Motor Controller. Also have 2D Lidar publish /scan topic with a frame id laser_link. My RealSense Depth ...
Macedon971's user avatar
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help with moving wheels of robot in gazebo

I'm using UBUNTU ros2 Humble I've been trying to control my robot in gazebo. I have tried several plugins to run it, but to no avail. I figured it could be that in my URDF, my wheel is connected to a ...
aman noufel's user avatar
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error while using diff_drive plugin

I am using ubuntu 22.04 humble ros2. I am trying to run a robot with wheels on gazebo using the differential drive plugin from https://classic.gazebosim.org/tutorials?tut=ros_gzplugins. When i try to ...
aman noufel's user avatar
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ros2 ackermann robot not moving forward, left and right

I am working on a ros2 ackermann steering robot with 4 wheels. Issue: The robot is not moving forward, left and right. Although its wheels are turning left and right. The robot is moving in reverse ...
Pratham's user avatar
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Model loading in rviz but not visible in gazebo

I have an issue spawning my URDF model in gazebo. It works fine in rviz but when I launch it in gazebo the model shows up in model parameters but I don't get any visuals. My theory is that since ...
drec0xy's user avatar
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46 views

Mobile robot moving around can not visualize in RVIZ, why so?

I have a mobile robot that is able to visualise it in Rviz. But when the robot moves it doesn't show it in rviz, only shows the laser scans, but the robot model is static. The Lidar frame id is ...
Macedon971's user avatar
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All my links break down to origin when i launch the controller

so here is the image of my custom made urdf which is imported from solid works, as you can see, all the links comes to origin when i launch the file(with the controllers),but the model remains perfect ...
S ELANCHEZHIYAN's user avatar
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urdf_tutorial no such file or directory

I am using the urdf_tutorial. I cannot create an urdf file inside urdf folder, so I create the urdf file in the home directory. When I want to launch the urdf file, I get an error that no such file or ...
Msr09's user avatar
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urdf error. It have some including xacro files

I used the include xacro command to combine three urdf.xacro files into one, and only one xacro is loaded through XML conversion from 'robot_description' via ...
ertretff's user avatar
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23 views

How to have a child link with two parent links for URDF

As the title states, there is a link on my robot that is connected to two different parent links in seperate places. I don't know how to do this as it says that every single link must be unique. Is ...
John Miller's user avatar
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Error: link 'boggiesidelegl_1' is not unique

I am using ubuntu 22.04 ROS2 HUMBLE i used https://github.com/dheena2k2/fusion2urdf-ros2/tree/master to create a urdf for my project. when i try running ros2 launch mars_description display.launch.py, ...
aman noufel's user avatar
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83 views

No Fixed Frames in RVIZ2 are shown

I tried to show the URDF of a complex robotic arm in rviz2, but nothing shows in the fixed frames in rviz2, the dropdown menu of fixed frames is empty. I am using ROS2 Humble, with rviz2 (11.2.9). The ...
Hasan Shadi's user avatar
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42 views

libignition-gazebo-diff-drive-system does create the cmd_vel topic

I am trying to make my own robot, I am using ROS2-humble on Ubuntu 22.04 with gazebo ignition fortress. so I came across this problem where the ...
abdo Salm's user avatar
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How to access URDF info inside a transmission interface?

I'm trying to write a custom transmission interface for ros2 control for the robotiq 3f, and I need access to the joint limits defined by the urdf, but the Joint handle does seem to contain that info, ...
Peter Mitrano's user avatar
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8 views

Riding a robot model in Gazebo along a straight, curved path with feedback on a Raspberry running ROS

please be kind and advise how to implement the following: I have a computer with ROS and Gazebo in which I have a robot model in URDF format, I need this model to go on a straight/curved path(straight/...
Perry's user avatar
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how to export sdf file from onshape?

I had problems extracting urdf file from solidworks, because I am working on a delta robot (closed chain). So I redesigned the robot in onshape which I read that it can be extracted directly as sdf. ...
issam_ks's user avatar
1 vote
3 answers
290 views

how to use gazebo ackermann plugin ROS2 Humble

I'm working on a urdf model of an ackermann car with 4 wheels. I want to use the ackerman gazebo plugin, in the github i found an example of usage that is the following: ...
Gaetano Pispisa's user avatar
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1 answer
49 views

Can set friction direction based on link cordinate in URDF

I'm a beginner at gazebo and ROS. I'm trying to make mobile robot which propels itself using the friction force normal to the direction of wheel. I want to use cylinder as wheel, and set the friction ...
Tama's user avatar
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1 answer
50 views

Hexapod model in Gazebo is sliding in place, like there is no friction

I got model of hexapod in gazebo v11.10.2 with ro2-humble. I am controlling it with JTC controller. Model in gazebo is sliding and moving in place. Changing mu1 m2 coefficient in urdf does not seem to ...
JesterHead77's user avatar
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1 answer
23 views

URDF surface tags are not propagated to gazebo

I am struggling to set friction to my model in gazebo. Issue is it is frictionless. It is walking in place and cannot move. I set my tags according to this document SDFormat but they are not visible ...
JesterHead77's user avatar
1 vote
1 answer
46 views

How to keep track of different robot configurations/ versions (urdf) over time

At my company, we are facing the following problem. We have a platform on which we often try different sensor configurations. Often the amount of sensors and type stay the same, but the extrinsic ...
Metz's user avatar
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How to move the link origin?

I understand that the collision, visual, and inertial origins are all starting from the link origin, but how do you change the link origin? I have a joint in the wrong place (relative to the child ...
Muse Eyassu Gimicael's user avatar
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1 answer
70 views

Robot sliding in idle state when spawning in gazebo

As the title mentioned, I built a robot using urdf. However when I spawned it into gazebo it start slowly sliding backward. I tried adding friction into the code but it seems to do nothing. Also I've ...
brian2lee's user avatar
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1 vote
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119 views

How to add a segmentation camara to robot

As the title mentioned, I want to add a segmentation camera to my robot for a gazebo simulation. I've built my robot using urdf and have already added a realsense d435 cam on it. I do find documents ...
brian2lee's user avatar
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RobotModel error RVIZ

I am trying to add a scooter URDF to my package so I can add sensors and use it on ROS2 - gazebo. I came across a github repo that include the scooter URDF in and meshes (everything I need). I tried ...
Yasser Salem's user avatar
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1 answer
96 views

Gazebo urdf model falls through the ground

I built a model with Solidworks and exported it as urdf. I believe the exported file is fine as I can insert it in the gazebo world. However, once I insert it, it falls down through the ground. Could ...
suhjw2762's user avatar
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2 answers
39 views

Model in gazebo moves violently, with JointTrajectoryController

I am developing heaped project. I am using ROS2 humble with JointTrajectoryController. When I spawn model in gazebo it moves uncontrollably, it shoot itself out of sight. When it lands on its back it ...
JesterHead77's user avatar
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0 answers
77 views

xacro: Substitution args not supported: cannot import name 'Log' from 'rosgraph_msgs.msg' in ubutnu desktop 22.04

I am very new to ROS2 and have only been practising for a few days so i am having a really tough time trying to find the solution. I am on a dual boot PC with Windows 11 and Ubuntu 22.04, and i am ...
Akshit's user avatar
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How to model underactuated joint to extract the angle for controll?

Assume if I have a pendulum on a robot cart or a trailer on a robot. These are system which passivly follow the robot. If you want to control them how do you access the angle? I have investigated this ...
Hamzalihi's user avatar
1 vote
2 answers
59 views

SW2URDF model is floating in Gazebo

I get my URDF using SW2URDF plugin in SolidWorks. Iam following this instruction. From the instruction, I need to add link and joint as "world" and set the child link to the base link, (It ...
racaraca69's user avatar
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16 views

Error while launching URDF in RVIZ: "junk after document element"

I have followed the Nav2 tutorial for setting up my URDF, but this error had me stuck on section1 for days. Knowingly, I'm using the URDF and mesh files from an open repository https://github.com/...
quark epsi's user avatar
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1 answer
240 views

ROS2 convert STEP to urdf

For my bachelor project I have to be able to remote control a ur10e robot with gripper in VR. The robot has an adaptive plate attached to its flange, so that it can hold a camera and the gripper. For ...
Lapiz's user avatar
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1 answer
48 views

Unable to view robot in Rviz using ROS Noetic

I am new to ROS and was learning ROS1. When I wrote the urdf code and tried to open it in RViz, I couldn't see the model in the workspace. I keep getting the error: [ERROR] [1695576379.027830126]: ...
VelvetThunder_06's user avatar
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59 views

Could not render URDF file due to an error

Could not render URDF due to the following error: ...
Tejas Bhurbhure's user avatar

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