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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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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
170 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 ...
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1 answer
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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?
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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 ...
0 votes
1 answer
36 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 ...
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0 answers
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I want to able to reduce the number of joints in URDF and still be able to achieve the 4 positions . How can it be done? [closed]

Reduce from 5 joints to 4 joints in uRDF and still be able to achieve 4 positions.
0 votes
1 answer
25 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 ...
1 vote
2 answers
21 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
120 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: ...
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1 answer
25 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 ...
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0 answers
22 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
20 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 ...
1 vote
1 answer
34 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 "...
-1 votes
1 answer
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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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0 answers
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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 ...
0 votes
1 answer
26 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 ...
1 vote
1 answer
15 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 ...
0 votes
1 answer
699 views

Failed to find mesh file, File or path does not exist

I am trying to run a URDF robot in gazebo and continue to get errors of trying to find meshes. I have tried using a relative file path and a hard coded file path. It also says URI not supported by ...
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0 answers
19 views

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

urdf在这里 ...
0 votes
1 answer
407 views

ROS2 convert STEP to urdf

For my bachelor project I have to be able to remote control a ur10e robot with gripper in VR. The robot has an adaptive plate attached to its flange, so that it can hold a camera and the gripper. For ...
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0 answers
5 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 ...
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0 answers
9 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 ...
0 votes
1 answer
35 views

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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2 answers
20 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
1 answer
29 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
884 views

Want to make an URDF starting from a robot .STL

I want to make an URDF from a Staubli TX2-140. I have the .STL of the all arm. Does someone know how to separate it to get individual links .STL? Thanks
0 votes
1 answer
31 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 ...
0 votes
1 answer
37 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 ...
0 votes
1 answer
43 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 ...
0 votes
0 answers
9 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 ...
0 votes
1 answer
65 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?
0 votes
3 answers
387 views

AttributeError: module 'xml' has no attribute 'parsers'

I try to visualize turtlebot2 urdf in ros2 humble by following the command ros2 launch urdf_tutorial display.launch.py model:=turtlebot2.urdf. I source my both ...
0 votes
1 answer
75 views

Unable to view robot in Rviz using ROS Noetic

I am new to ROS and was learning ROS1. When I wrote the urdf code and tried to open it in RViz, I couldn't see the model in the workspace. I keep getting the error: [ERROR] [1695576379.027830126]: ...
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0 answers
15 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 ...
0 votes
1 answer
15 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 ...
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1 answer
21 views

Question about uri reading urdf in fortress

I have problem with reading my robot URDF file with gazebo. In my worlds.sdf, I put ...
0 votes
2 answers
65 views

error while launching robot model

Hi all, I am trying to launch a robot model in gazebo(using ros indigo and ubuntu 14.04). But a node 'spawn_model' which is specified in launch file is automatically killed while running roslaunch and ...
0 votes
0 answers
47 views

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 ...
1 vote
0 answers
130 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 ...
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0 answers
20 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 ...
0 votes
1 answer
62 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 ...
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0 answers
21 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 ...
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0 answers
16 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 ...
0 votes
1 answer
14 views

Transmission and track chain

I added a "transmission" block in the URDF to describe the model of the tracks of my robot... My tracks are triangular, with an active sprocket and two passive sprockets. The active sprocket ...
1 vote
3 answers
519 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: ...
1 vote
1 answer
101 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
2 answers
91 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 ...
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1 answer
582 views

ros2 run gazebo_ros spawn_entity.py does not spawn urdf to gazebo

I have the following AMR.urdf file ...
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0 answers
22 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 ...
0 votes
1 answer
67 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 ...

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