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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In the TurtleBot3 Gazebo simulation, the angular velocity exhibits significant fluctuations at certain points, leading to instability
I am using Ubuntu 20.04 and Gazebo 11.11 to simulate the TurtleBot 3 Waffle Pi robot. I modified the .gazebo.xacro file because the default settings result in significant slipping, especially at ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 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 ...
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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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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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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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Passing xmlns:gz attribute from <robot> in URDF straight to <model> in SDF
I need to have the xmlns:gz attribute from my URDF file:
...
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Adding prismatic joint in the gazebo cause moles to behave erratically in gazebo
I've designed a robot model in Fusion 360, resembling TARS from the movie Interstellar. I exported the model into a URDF package for ROS 2 using a Fusion 360 plugin. The model loads perfectly in ...
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Create URDF from DH parameter table and stl files
I want to create a URDF robot model of a KUKA KR150 R3300. I have the .stl files for each link, and i have the DH parameters table, where the DH parameter table represents the real robot measuring. Is ...
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KR R3300 prime k URDF
Can anybody provide a URDF file for the KUKA KR R3300 prime k URDF robot?
I have found a git repository https://github.com/Daniella1/urdf_files_dataset/tree/main
the KR150 R3100 is included, but i ...
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vr controlled robot using unity
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 ...
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how to find urdf of mobile robots used in industries?
i need to find the urdf of mobile robots/platforms used in industries. where can I find them? I have visited the official websites of leading manufacturers of AMRs , but couldn't find the urdf.
any ...
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Collision problems in URDF
I just noticed if the collision model is too long, collision seems to fail. To elaborate more on this, I have a cylinder model for the collision model of the robot Cassie's foot, and if I set its ...
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How to set joint effort limit in URDF?
I'm setting up URDF file for my model, and I was wondering how I should set the joint effort limit.
The nominal torque of the motor I'm using is 13Nm, then is it correct to set joint effort limit on ...
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why xacro not working with urdf file
SO this the screenshot.Urdf is present but still xacro is not working.
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RLException: Invalid <param> tag: Cannot load command parameter [robot_description]:
I am using ROS noetic to run Turtlebot simulation in gazebo environment. I cloned the repository turtlebot and turtlebot simulator. When I ran the command roslaunch turtlebot_gazebo turtlebot_world....
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Prismatic joint not moving upwards in Gazebo simulation
I am working on a small forklift URDF model which I am using in Gazebo in conjunction with ROS2 (Jazzy). I am trying to get the fork plate to move upwards by utilizing Gazebo's JointPositionController-...
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camera plugin doesnt work in gazebo
im trying to add a camera to my robot
here is the urdf file
but when i start the siuation the camera doesnt appear neither in rviz or gazebo also camera info is not mentioned in topics .
gazebo ...
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How to use Gazebo Fortress camera plugin from URDF?
I am trying to define a regular camera to be used in Gazebo Fortress from a robot description topic created from a URDF file. In my urdf.xacro I have included the camera plugin like so:
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Issue with Transparent PNG Texture in URDF Showing Black Background in RViz
I'm trying to apply a PNG texture with a transparent background to a box in my URDF file. The box should be see-through with only the texture visible. However, when I load the model in RViz, the ...
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urdf_tutorial error
im trying to use urdf tutorial to visualize the model with rviz :
ros2 launch urdf_tutorial display.launch.py model:=my_robot.urdf
and i got this error :
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Creating a custom urdf (and launch file?) to allow rviz/moveit to plan for ur3e with robotiq hand-e gripper?
Good morning everyone! I'm using a ur3e with a robotiq hand-e gripper, trying to get it set up in ROS2 Iron so that we can control the arm from MoveIt. I've installed the ur_robot_driver via apt and ...
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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 ...
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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 "...
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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 ...
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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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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 ...
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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 ...
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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....
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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:
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`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 ...
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Model is shaking in gazebo
Using "view contacts"in gazebo,I found the model was shaking.How can I modify my urdf file efficiently to keep the model stay still?
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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
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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 ...
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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 ...
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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 ...
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base Link is invisible in Gazebo-11
I dont understand why the base_link is transparent, every other Link looks fine.
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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
...
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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 ...
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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 ...
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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 ...
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This robot has a joint named "joint" which is not in the gazebo model
I am using the following method in https://answers.ros.org/question/223196/using-gazebo_ros_control-with-sdf-instead-of-urdf/ to actuate a 2D Gimbal model using the ROS Control Plugin. However, the ...
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Joint definition leads to No transform from [] to [base_link] on an arm robot
As stated, I am encountering this error when launching a ROS 2 simulation. I am currently using ROS 2 Iron and Gazebo Classic.
I am spawning the robot system from a pythonlaunch file as it follows:
<...
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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 ...
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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 ...
