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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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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 ...
1 vote
1 answer
13 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 ...
1 vote
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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 ...
1 vote
1 answer
9 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 ...
0 votes
0 answers
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"/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 "...
2 votes
1 answer
20 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 ...
0 votes
0 answers
7 views

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 ...
0 votes
0 answers
7 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 ...
0 votes
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 ...
0 votes
1 answer
31 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 ...
0 votes
1 answer
71 views

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 ...
0 votes
1 answer
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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 ...
0 votes
1 answer
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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(...
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1 answer
26 views

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 ...
0 votes
1 answer
93 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 ...
1 vote
1 answer
163 views

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 ...
0 votes
0 answers
7 views

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 ...
0 votes
1 answer
21 views

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 ...
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0 answers
12 views

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 ...
0 votes
1 answer
46 views

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 ...
0 votes
1 answer
56 views

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? ...
1 vote
1 answer
108 views

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 ...
0 votes
2 answers
57 views

error: Invalid XML: mismatched tag: line 331, column 6 in urdf file

Here is the file in question: ...
0 votes
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 ...
0 votes
1 answer
29 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 ...
0 votes
2 answers
8 views

How can I add mesh?

I am a beginner, I am making a 4dof custom arm and I am not able to understand how to add mesh objects to the existing links and code for putting the links at right places with respect to meshes? how ...
-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?
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2 answers
53 views

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 ...
0 votes
0 answers
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....
1 vote
2 answers
271 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 ...
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 ...
0 votes
1 answer
263 views

URDF link mass inertia properties

Hi I'm building a URDF for rviz, and eventually Gazebo. I'm a bit confused about the best values to put in for the Inertia Origin and Moment of Inertia matrix. Below you should see a screenshot of a ...
0 votes
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 ...
0 votes
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: ...
1 vote
1 answer
53 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 ...
0 votes
1 answer
87 views

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 ...
0 votes
2 answers
31 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 ...
0 votes
2 answers
41 views

URDF to SDF conversion using gzsdf

Dear all, As I'm currently trying to tune the dynamic behaviour of my robot modelled in a urdf(.xacro) file, I investigated the various urdf and gazebo tags available in order to see their effect to ...
0 votes
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 ...
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. ...
0 votes
2 answers
110 views

Staubli TX2-140 URDF

Where coul I find the URDF for Staubli TX2-140? I want to insert it in ROS and Gazebo and also use Peter Corke python toolbox to model it? How can I implement it in the toolbox? Thanks.
0 votes
1 answer
229 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 ...
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?
0 votes
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 ...
0 votes
1 answer
38 views

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 ...
1 vote
2 answers
37 views

robot_state_publisher-1 Error: joint limit: no effort

Here's a snippet of my urdf that's causing the problem: ...
1 vote
1 answer
136 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: ...
0 votes
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 ...
0 votes
0 answers
114 views

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 ...
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 ...

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