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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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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
  • 31
2 votes
1 answer
522 views

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
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
  • 31
2 votes
1 answer
19 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
1 vote
2 answers
115 views

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
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 ...
Doğukan YILMAZ's user avatar
1 vote
2 answers
164 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
1 vote
2 answers
2k views

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
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: ...
Karan Pratap Shaw's user avatar
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: ...
furkan's user avatar
  • 21
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
  • 45
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 ...
aman noufel's user avatar
1 vote
3 answers
738 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
148 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
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
1 vote
1 answer
203 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
583 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
405 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
1 vote
1 answer
153 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
1 vote
1 answer
12 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
1 vote
0 answers
8 views

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
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 ...
Dario's user avatar
  • 11
1 vote
1 answer
19 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
0 answers
104 views

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
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 ...
aman noufel's user avatar
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 ...
Metz's user avatar
  • 23
1 vote
0 answers
132 views

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
  • 119
1 vote
0 answers
19 views

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
1 vote
0 answers
22 views

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
57 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 ...
user avatar
1 vote
1 answer
246 views

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
79 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
0 votes
1 answer
35 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
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
  • 1
0 votes
1 answer
53 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
2 answers
118 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
  • 3
0 votes
2 answers
292 views

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
0 votes
2 answers
52 views

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
0 votes
1 answer
112 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
  • 4,294
0 votes
1 answer
293 views

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
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 ...
Cameron Bauman's user avatar
0 votes
1 answer
9 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
  • 11
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 ...
janonespe's user avatar
0 votes
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 ...
McQueenPC's user avatar
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 ...
Tim De Witte's user avatar
0 votes
1 answer
274 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
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
0 votes
2 answers
153 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
  • 45
0 votes
1 answer
89 views

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
  • 1
0 votes
1 answer
52 views

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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