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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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Diff drive robot can not turn

I made a diff drive robot in the gazebo simulation, but it does not turn while moving forward. As seen in the video, although the right wheel rotates faster, the robot does not turn left. What could ...
gurselturkeri's user avatar
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URDF File is not parsed, robot state publisher sees the robot description empty. RCLCPP does not exist in libexec?

After finishing the migration of a project for a simulation of a robot, my first launch file which i will provide later contains the robot state publisher, which I give the the robot description and ...
Omar El Sherbeny's user avatar
1 vote
1 answer
24 views

ROS1 gazebo11 invisible links

I'm trying to spawn my robot urdf in gazebo, but some links are not showing, although they appear in the left menu bar. They also show in Rviz and Moveit, so it has to be something with gazebo visuals ...
ChikN42 -'s user avatar
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how to change base_link orientation as parent tf universal robot in moveit?

Affected ROS Driver version(s) : Ubuntu 20.04 Used ROS distribution : Noetic Summary I have a UR5e robot and a plan that contains a conveyor with the position as in the picture. I want to do cartesian ...
Ahmad Zidan Wahyudin's user avatar
1 vote
1 answer
21 views

ROS3D.UrdfClient suddenly stopped loading meshes

I'm trying to visualize a 3d robot simulation on a web browser and I'm currently using the ros3djs library (not sure if this is the best choice yet). Some days ago I managed to visualize correctly the ...
Dario's user avatar
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8 views

"/gazebo/apply_body_wrench" service is missing

I want to apply force to an object in ROS2 Gazebo but "/gazebo/apply_body_wrench" service is not available in ros2 service list. After adding "...
Pratham's user avatar
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inconsistent bounce behaviour of ball in gazebo

I am trying to simulate a tennis ball in gazebo. The issue is that the ball is having inconsistent bouncing effects. Means the ball is bouncing different number of times when released from the same ...
Pratham's user avatar
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2 votes
1 answer
33 views

Incorrect coordinate system for robot model in Rviz2 when launching urdf

I was able to launch my robot model in rviz2 - however I used the Solidworks to URDF exporter to generate my urdf file which I have found to be very unstable. For this reason I just let it use ...
Cameron Bauman's user avatar
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9 views

Ros2 Canopen Change axis for motor

I running into a problem about my real hardware robot. When building the robot the right wheel motor was installed the other way around, meaning that when the wheel rotates forward in real life, the ...
Rob's user avatar
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1 answer
20 views

"No transforms from [<any link>] to [<baselink>]" in Rviz2 when trying to launch robot model

I am currently trying to modify a robot model in rviz2 but when I launch it, I am getting a no transforms error under robot model status. I am also getting a fixed frame error and I am unsure why. The ...
Cameron Bauman's user avatar
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10 views

ROS2 Xacro/URDF file isn't displaying, Error: No transform from [] to []

I've created a URDF file using a few Xacro files, and for some reason as soon as I added in the caster wheel it started having problems. The chassis and caster both show up, but the caster just spawns ...
FalOn's user avatar
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URDF joint orientation is continuously flip-flops

I'm am trying to write a simple 2 link URDF in ros2 humble but the orientation of one of the joints continuously flips from one orientation to another. Half of the time the "body2" link is ...
Jack Hatcher's user avatar
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1 answer
28 views

Why the result of inverse kinematics is wrong? where is the problem of URDF file?Thanks!

Really need help, thanks! I got a URDF file of Fanuc CRX-10ia robot.It is converted from solidwords by SW2URDF. The urdf seems correct by a visualization software. But when i test inverse kinematics(...
zhengshiwei's user avatar
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1 answer
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How can I modify a URDF file for a KUKA robot?

In the ROS industrial GitHub section,there is the URDF file for the KUKA KR 120 R2500 only. https://github.com/ros-industrial/kuka_experimental/tree/melodic-devel/kuka_kr120_support I would like to ...
dodo's user avatar
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Integrating UR16e Robot in Unity3d with ROS2

I am working on a project that involves Unity3d with UR16e robot model and integrating with ROS2. I am using ROS2 Humble inside a docker container. I followed the ROS-Unity tutorials to get a hang of ...
confused-robocist's user avatar
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1 answer
34 views

Rviz2 can not load resource of mesh geometry

I have a working urdf for my robot that I could visualize in rviz2 and publish over /robot_description well. However, I have recently started trying to simulate my robot over in Gazebo and I found ...
janonespe's user avatar
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Setting up UR3e with ROS2 Iron - missing xacro files?

I have what seems to be a working installation of ROS2 Iron, and I have installed the UR driver https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main/ur_robot_driver to work with ...
Kat's user avatar
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1 answer
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How to clone Universal Robots ROS 2 driver packages grom GitHub?

I am trying to install the Universal_Robots_ROS2_Driver package. When following the step 2 Start and Set up, they have mentioned to a way to extract the calibration. However, I tried to clone this ...
Ann_u's user avatar
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17 views

Spring-Loaded Link/Joint in Robot URDF

I'd like to make a link/joint spring-loaded in my URDF, so that it takes a certain level of force to displace it and so that it returns to a base/equilibrium position when not in contact with anything....
S. Gun's user avatar
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2 answers
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URDF seems to be not genuine when running with ros2_control and custom hardware interface

Whenever I start my robot I get an error regarding a not genuine URDF file, which causes the controller_manager not to spawn. I have already tried comparing my URDF with the diffbot demo but can't ...
McQueenPC's user avatar
1 vote
2 answers
278 views

Gazebo robot falls over on spawn; "The published robot description file (urdf) seems not to be genuine"

In my gazebo simulation my robot fails to maintain itself. It falls over in the spawn and starts to vibrate by itself. There were multiple terminal errors. While fixing these errors, I sometimes cause ...
Doğukan YILMAZ's user avatar
2 votes
1 answer
27 views

Why is my model jumping around all over the place?

Every time it gets to that position it goes crazy, I'm not sure why. It's weird that the box is bobbing up and down as well. It's just supposed to be a simple pendulum / slider mechanism. URDF ...
rcmtu's user avatar
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1 answer
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get inertia matrix in urdf

I have the inertial parameters of the links for a urdf file but my teacher asked me if the inertia matrix is weightless in a urdf file. Right know I inserted the parameters with the mass (kg*m^2). I ...
Tim De Witte's user avatar
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1 answer
16 views

which gripper collision geometry to use in URDF

I am building a robot arm and right now I am adjusting my URDF. The gripper has a quite complex geometry. Does it make sense to use the original STL (or STEP) file (that i normally would only use for ...
choco_lion's user avatar
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0 answers
18 views

Stuck simulating URDF robot using Gazebo (ROS 2 Humble)

I'm trying to simulate a robot in Gazebo in ROS2 Humble, but am encountering some issues. Here is the output from when I try to run the launch file: ...
Kwasi's user avatar
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0 answers
15 views

`urdf2webots` Converter is producing wrong results

To convert my URDF to a PROTO I ran: ros2 run xacro xacro path/to/in/file | python3 -m urdf2webots.importer --output=path/to/out/file, but I end up with some weird ...
mink4sure's user avatar
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1 answer
30 views

hardly to let my own gazebo model stay still

In my original urdf file,I modified the mass value to let my model seem to stay still.Now I notice the imu is shaking in rviz,so I turn to "view contacts"in gazebo,the green light is shaking ...
yz x's user avatar
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1 vote
2 answers
38 views

robot_state_publisher-1 Error: joint limit: no effort

Here's a snippet of my urdf that's causing the problem: ...
Karan Pratap Shaw's user avatar
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1 answer
57 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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Node::Advertise(): Error advertising topic [/theBot/joint_cmd]. Did you forget to start the discovery service?

I am very new to gazebo. as of now I am trying to integrate ROS2 humble + URDF + gazebo but I keep getting this error message whenever I try to move the model in gazebo ...
Karan Pratap Shaw's user avatar
0 votes
1 answer
36 views

ROS2 MoveIt!2 "No acceleration limit was defined for joint! You have to define acceleration limits in the URDF or joint_limits.yaml"

Im trying to get a UR3e simulation running with MoveIt2 in RViz and Gazebo. I have the robot generating in RViz and Gazebo, and can move it around in RViz. When i try to plan a trajectory, i get the ...
HES's user avatar
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-1 votes
2 answers
25 views

How can I construct a semi-circle in urdf

Making a cylinder is easy. How can I make a semi-circle shape?
Alan Federman's user avatar
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0 answers
11 views

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
0 votes
1 answer
36 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
1 vote
1 answer
20 views

How to integrate omnidirectional base and redundant manipulator

I have been working on integrating a panda (from Franka Emika) and a summit-xl-steel in ROS noetic. I am not an expert on ROS, but I have integrated the two xacro files, and now I get an error saying ...
Markus Simonsen's user avatar
1 vote
1 answer
138 views

This robot has a joint named "screw_right_first_2_to_right_first_joint_1" which is not in the gazebo model

While trying to transfer my robot to the Gazebo environment, I get an error like this: ...
furkan's user avatar
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0 answers
21 views

建立urdf时,节点type="fixed"显示正常,type="continuous"异常

urdf在这里 ...
嗨嗨嗨's user avatar
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0 answers
7 views

franka_hw/FrankaModelInterface and franka_hw/FrankaStateInterface transmission has more than one joint issue

I'm launching two panda robots in gazebo to use them with a custom controller. I edited the original dual_panda_example.urdf.xacro in order to use it in simulation as my controller needs both ...
mikel lasa's user avatar
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0 answers
10 views

parsing errors when launching two robots from the same urd.xacro file

I'm trying to launch two panda robots from the same urdf file but I'm stuck as is giving me parsing errors when I launch two robots together. If I try to launch one it works but not with two (I ...
mikel lasa's user avatar
0 votes
1 answer
33 views

base Link is invisible in Gazebo-11

I dont understand why the base_link is transparent, every other Link looks fine. ...
Kedar's user avatar
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0 votes
2 answers
32 views

How can I write wrist joint urdf?

I am concerned about urdf regarding wrist joint. If I actually make it the way I made it, I don't think it's a urdf that I can make at my level. Is there a simple reference for this? It's hard to find ...
ertretff's user avatar
0 votes
1 answer
55 views

Can I change the axis of rotation of the joints from urdf file?

I have a custom robot that is exported from fusion 360. In fusion I have no problems about the rotation of the joints. However when I export it to ros2 and use setup_assistant of the moveit2. The axis ...
Doğukan YILMAZ's user avatar
0 votes
1 answer
30 views

URDF vs SDF benifits?

Turtlebo3_waffle and Turtlebot3_burger uses SDF for simulation in Gazebo and URDF for publishing TF and visualizing in RVIZ. Is there any particular reason for doing so?
Biplab Bag's user avatar
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0 answers
10 views

URDF 2 joints in the same link

I have been modelling a robot with URDF for a while now and had a problem with my third and fourth joints being in the same position between link_2 and link_3 respectively. in my URDF file, I have a ...
persona's user avatar
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1 answer
23 views

Launch two urdfs under same spawner giving issues with different descriptions

I'm trying to launch two robots (panda and iiwa) under the same urdf spawner node. Both robots have a different robot description that I pass to the node as a parameter. My issue is that for some ...
mikel lasa's user avatar
0 votes
1 answer
299 views

How to convert xacro file to urdf at ROS2?

I have a .xacro file exported from Fusion360. I want to convert it to .urdf to use at moveit2. How can I do this?
Doğukan YILMAZ's user avatar
0 votes
1 answer
48 views

A problem occurs in tf while outputting robot_description to rviz

I created and ran a urdf file by combining several examples. When simply launched to view in rviz, tf_tree was produced normally. However, since I added a controller and output it to ...
ertretff's user avatar
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0 answers
22 views

Attaching a Tether to another robot's base_link in gazebo

I am trying to simulate a tether attached to my robot in gazebo. I am describing the robot and the tether using urdf xacro files. My tether is modeled as a chain of ...
Tanay Garg's user avatar
0 votes
1 answer
22 views

no transform from xxx to xxx after installing conda

the previous package I created can be used smoothly.However,after installing conda and pytorch,the robot description cannot be put on screen correctly.The early verison of robot description in rviz ...
yz x's user avatar
  • 3
1 vote
1 answer
45 views

restart ros2 controller

I am working on a 4 wheel ackermann steering car which is expected to respawn on the track once it moves out of the track. I am able to respawn it successfully with "delete_entity" and "...
Pratham's user avatar
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