Questions tagged [urdf]
The urdf tag has no usage guidance.
706
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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 ...
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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 ...
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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 ...
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32
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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 ...
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How to add a segmentation camara to urdf robot
As the title mentioned, I want to add a segmentation camera to my robot for gazebo simulations. I've built my robot using urdf and have already added a realsense d435 on it. I do find documents for ...
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16
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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 ...
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34
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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 ...
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2
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32
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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 ...
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33
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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 ...
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17
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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 ...
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49
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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 ...
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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/...
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79
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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 ...
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30
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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]: ...
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35
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Could not render URDF file due to an error
Could not render URDF due to the following error:
...
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10
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Fix Object in Gazebo Environment Simulation after Spawning
I am using Gazebo-11 with rospy (python) in ROS Noetic. After spawning an object (urdf) on a table with rospy, I want to fix it in the world frame, so it does not move any more.
PS: I know how to ...
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31
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Invalid frame ID even if the TF tree is produced correctly
I am having a hard time understanding the production of the TF tree. I have a robot which is visualized correctly both on Rviz and Gazebo. The transmissions and gazebo plugins work fine such that I ...
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30
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Fix Object in Gazebo Simulation after Spawning
I am using Gazebo-11 with rospy (python) in ROS Noetic. After spawning an object (urdf) on a table with rospy, I want to fix it in the world frame, so it does not move any more.
PS: I know how to ...
- 1
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0
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63
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How to pass to URDF to robot_state_publisher in YAML launch file?
I am writing a simple YAML launch file to launch my URDF. With robot_state_publisher publishing the robot description to rviz2. But how do i pass the output of ...
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42
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How to simulate encoders in Gazebo 11?
I am using a differential drive robot and would need to have access to the encoder counts from the simulator, but I cannot find an encoder plugin anywhere. Since encoders are one of the most basic ...
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32
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RViz is not working properly and showing extra joint
this is the urdf file that i am using in RViz
<?xml version="1.0" ?>
...
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9
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How to define zero joint state reference value in URDF/XACRO?
When defining the robot URDF/XACRO file we set links and joints.
By default the joints states are zero on spawning.
Is there a way to redefine the reference value of the joints states, essentially ...
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1
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186
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ros2 run gazebo_ros spawn_entity.py does not spawn urdf to gazebo
I have the following AMR.urdf file
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What gazebo plugins should I use for robotic arm in ROS2-humble? [closed]
Im using ROS2-humble
what plugins, interfaces. should i add, and why?
the urdf file:
...
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17
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Regarding rotation of the box when affected by two non equal side forces
We have created a workspace, where we have a box ‘B’ (massive) with two side boxes(left and right) of negligible size and mass attached to the line connecting the centre of Mass of the main box B. The ...
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94
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robot does not spawn in ros2
I am trying to spawn custom urdf in ros2. I have following launch file
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2
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27
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error: Invalid XML: mismatched tag: line 331, column 6 in urdf file
Here is the file in question:
...
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1
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23
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How to set initial position between two links connected via a floating joint?
When I try to use the origin tag withing the joint, it doesn't affect the child link position.
How can I change the initial position of the floated link?
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18
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modify the URDF file for the Turtlebot Burger by adding an extra plate
I'm looking to modify the URDF file for the Turtlebot3 Burger robot. My goal is to introduce an additional plate in the middle of the robot's structure. This alteration in the design would impact the ...
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1
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42
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Gazebo didn’t launch with urdf
Running on vm, I created a simple launch file to launch Gazebo with the robot urdf, an error was shown.
launch file Content:
...
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2
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109
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Gazebo not running when I try to load STL files
I have an issue with Gazebo, when I try to load my URDF file (including STL meshes), Gazebo crashes.
This is my URDF file:
...
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72
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Some links and joints don't appear when running Gazebo with ROS2
I'm running Gazebo Classic and ROS2 foxy.
This is the URDF file which is meant to display two boxes connected by a revolute joint. However, when launched with ROS2 the big_box link and the axel joint ...
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31
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Cannot define robot poses in MoveIt setup assistant
I am using ROS Noetic Ninjemys with Ubuntu 20.04. I made a URDF of an end effector. I tried to configure it with MoveIt setup assistant. However, I am unable to adjust the prismatic joint "...
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Does the ros2_control's JointGroupPositionController handle velocity constraints?
In ROS 1, you could limit the speed that the position controller moved at by specifying a <limit> tag within the ...
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Visualization of sensor output in RViz
I'm trying to visualize the output of a ultrasone sensor (HC-SR04) in RViz with ROS1. When I do a rostopic echo /RightSonarDistance I receive the values on the ...
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1
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242
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Failed to find mesh file, File or path does not exist
I am trying to run a URDF robot in gazebo and continue to get errors of trying to find meshes. I have tried using a relative file path and a hard coded file path. It also says URI not supported by ...
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How to get proper position of gripper for UR5 Arm?
I am trying to attach gripper to ur5 arm but the gripper is not in proper position there must be origin changes.Does anyone knownhow to get gripper in a proper position? GRIPPER Should look proper ...
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How to add gripper to UR5 arm?
I have UR5 arm without gripper I want to add gripper I have gripper urdf. Can anyone tell me how to add gripper what changes we need make in urdf ?
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Value expected to be a string, float, or int instead of an empty tuple
I've been trying to export a model from SolidWorks to URDF, I have made the necessary changes, as far as configuring the files. The model shows perfectly fine on MoveIt setup assistant and I generate ...
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95
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Problem with Define Robot Poses (in Moveit Setup Assistant)
In this picture, I can use GUI to define any pose of robot. However, I can't drag the slider or enter a number in the box. What is my problem?
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Aligning Joint Frames when Converting SDF to URDF in ROS2 Humble
I need some assistance regarding a challenge I'm facing while converting SDF (Simulation Description Format) files to URDF (Unified Robot Description Format) files in ROS2 Humble. Specifically, the ...
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318
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How to use Moveit2 in ROS2 Humble with my own custom URDF?
I am trying to use Moveit2 with ROS2 Humble. I followed the documentation provided and I was able to recreate the panda robot configurations from the MoveIt Setup Assistant and launching the generated ...
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51
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Unable to load panda.urdf.xacro in gazebo fortress
Ubuntu : 22.04
Ros version : Rolling
gazebo : fortress
i am trying to load a panda robot in gazebo fortress but couldn't really find any basic tutorial.
so i tried to write some launch files but ...
benthebear93
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152
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Why does the laser cut through walls? ray_plugin
I have build a robot with a urdf to visualize in gazebo. After some struggle being new to gazebo I got it working. I then decided to make a video series for myself and others on how I did it.
Sadly ...
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[URDF] What is a dummy link needed for?
Hi,
I'm trying to learn as bet as possible ROS2, Gazebo and of course SDF and URDF files.
I'm currently following some tutorials (a bit troublesome, given the different version of Gazebo/Ignition and ...
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876
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Gazebo Garden sensor plugins for ROS 2 URDF files
I have a Gazebo Garden simulation and I struggle to make it work with Gazebo plugins for the URDF file.
Context
I have a URDF file of my robot, but I first could not find an obvious way to make it ...
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99
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How can I set the sample rate/frequency for a Webots GPS module?
I'm trying to simulate a GPS module I have on a real robot (using ROS 2) which has a position update rate of 1Hz. Is it possible to set this in a GPS device? I'm importing the device directly to ...
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3
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Adding meshes to URDF using HTTPS URLs
I'm trying to figure out if I can add meshes to a URDF using HTTPS URLs instead of using package:// or file://. I wasn't able to find any references about it online, or even any info stating it's not ...
adityakamath
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368
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How do I integrate webots sensor plugins into a ros2 URDF/Xacro file?
I am trying to set up a Lidar, IMU, and depth camera in Webots on a ROS 2 robot in its xacro file (starting with just the Lidar).
I currently have the following:
...
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How do I make a robot imported using urdf and ROS2 gravity? It just floats
I can't seem to find any examples with imported URDFs (the universal robot examples don't seem to have any physics settings beyond joint inertias etc).
My robot has mass from the urdf:
But it seems ...
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