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 for a real robot

I have been making robots in ROS/Gazebo simulation before, which makes use of the URDF to understand the robot model, different frames and transformations. For a real robot, do I need a URDF as well? ...
robo1996'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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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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2 answers
141 views

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 ...
Craig MS's user avatar
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2 answers
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Add image onto box in URDF file

I'm trying to display an image on top of a box in a .urdf file. How could I achieve this?
Keven Wang's user avatar
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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
1 vote
1 answer
118 views

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?
Vrushab Jain's user avatar
1 vote
1 answer
129 views

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 ...
Craig MS's user avatar
1 vote
1 answer
456 views

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: ...
Craig MS's user avatar
1 vote
1 answer
311 views

Are there any tutorials for transitioning from Gazebo Sim to Webots?

Are there any decent/recommended tutorials around for transitioning to webots from gazebo Sim? Or at least setting up existing ROS 2 robots in webots? I got a bit sick of trying to get the latest ...
Craig MS's user avatar
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1 answer
140 views

ROS2 URDF: How to have multicolored things in URDF?

It seems that only the first material clause in a link is used for the whole link. For example for a simple Minion Dave with blue overalls and yellow "body": ...
Cyclical Obsessive'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
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 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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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 ...
vibrantcloud's user avatar
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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 ...
Jeslin Jacob M.'s user avatar
1 vote
3 answers
37 views

Simulating a track driven robot

I'm trying simulate the movement of a robot with a rubber track similar to iRobot's LANdroid. Ideally I would like to represent the robot with URDF and use Gazebo as the simulation environment. I am ...
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1 answer
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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 ?
Vrushab Jain's user avatar
1 vote
0 answers
75 views

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 ...
Constant Roux's user avatar
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2 answers
68 views

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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2 answers
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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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2 answers
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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 ...
JesterHead77's user avatar
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1 answer
87 views

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 ...
DLu's user avatar
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Is there a better command line tool than check_urdf?

When I am working on my robot's URDF (for ROS2 GoPiGo3 robot), I edit the URDF (in a command shell/nano to the robot), then run check_urdf. check_urdf will often tell me the line in the check_urdf ...
Cyclical Obsessive's user avatar
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2 answers
83 views

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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1 answer
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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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1 answer
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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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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
  • 11
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1 answer
37 views

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 ...
TheClem's user avatar
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1 answer
156 views

robot does not spawn in ros2

I am trying to spawn custom urdf in ros2. I have following launch file ...
Mubahsir's user avatar
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45 views

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: ...
Rafmg8's user avatar
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3 answers
126 views

SDF to URDF conversion

Hello everyone! I am starting from scratch with ROS (just recently installed Jade) and I wanted to ask for some guidance. I have followed all basic ROS tutorials already and my idea was to develop a ...
user avatar
0 votes
2 answers
45 views

how can I see the camera and laser view in gazebo?

I have the urdf model of a car. I have attached the laser and camera with it. how cat I see the camera view and the laser data in the gazebo simulator. I know this is a common question. As I am new in ...
user avatar
0 votes
1 answer
136 views

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 ...
user210602's user avatar
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1 answer
38 views

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 "...
Sangeeth joseph's user avatar
0 votes
1 answer
192 views

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 ...
TK noob's user avatar
0 votes
1 answer
1k views

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 ...
Dave'RoboShack's user avatar
0 votes
2 answers
148 views

URDF to SDF Frame of Reference Calculation for Base Joint Fixed vs Floating

I am trying to simulate a robot I do not want fixed to the Gazebo world I am spawning it into. However, when I make the joint between my base link and the world floating, I get unexpected behavior in ...
Jack Frye's user avatar
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1 answer
92 views

Gazebo Garden plugin and nested models

I have a problem that I'm not able to solve with Gazebo Garden. I wrote a System plugin that handles a stereo camera, I need a plugin to interface the simulator with our SDK. Differently from Gazebo ...
Myzhar's user avatar
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1 answer
483 views

ROS - RViz reports "No transform from [kinect] to [world]" when URDF appears correct

I have specified a URDF relating the world with a table and a Microsoft Kinect mounted on a pole attached to this table. The URDF parses successfully with check_urdf: ...
Cameron B's user avatar
0 votes
2 answers
227 views

sensor breaks tf tree in ROS

I am currently trying to add sensor(lidar) into my robot. I made base for a sensor, link to which sensor is attached through gazebo reference. The problem is that adding a tag for some reason creates ...
Ramil's user avatar
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0 votes
1 answer
19 views

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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0 votes
0 answers
5 views

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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0 answers
12 views

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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0 answers
7 views

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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0 answers
19 views

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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0 answers
7 views

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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0 answers
10 views

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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0 answers
13 views

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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0 answers
17 views

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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