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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robot_state_publisher-1 Error: joint limit: no effort

Here's a snippet of my urdf that's causing the problem: ...
user40389's user avatar
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1 answer
23 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 ...
aarsht7's user avatar
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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 ...
user40389's user avatar
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1 answer
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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
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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?
Alan Federman's user avatar
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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 ...
vbalaji21's user avatar
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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 ...
vbalaji21's user avatar
1 vote
1 answer
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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
1 answer
113 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
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建立urdf时,节点type="fixed"显示正常,type="continuous"异常

urdf在这里 ...
嗨嗨嗨's user avatar
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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 ...
mikel lasa's user avatar
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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 ...
mikel lasa's user avatar
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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. ...
Kedar's user avatar
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2 answers
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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 ...
ertretff's user avatar
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1 answer
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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
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1 answer
21 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?
Biplab Bag's user avatar
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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 ...
persona's user avatar
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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 ...
mikel lasa's user avatar
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1 answer
59 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
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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 ...
ertretff's user avatar
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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 ...
Tanay Garg's user avatar
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1 answer
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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
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1 vote
1 answer
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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
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1 answer
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Question about uri reading urdf in fortress

I have problem with reading my robot URDF file with gazebo. In my worlds.sdf, I put ...
Uchiwuwu's user avatar
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0 answers
44 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 ...
Calvin's user avatar
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0 votes
1 answer
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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: <...
pdaranda661's user avatar
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1 answer
30 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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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
13 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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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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2 answers
89 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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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 ...
Victor's user avatar
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0 answers
16 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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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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0 answers
26 views

how to create urdf?

When creating urdf. 1.I have a 3D model file, but I do not want to be required to make a large calculation due to collision confirmation when creating a trajectory. Is this an important issue, and is ...
ertretff's user avatar
2 votes
1 answer
39 views

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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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 ...
Balen's user avatar
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0 answers
36 views

OpenRAVE IKFast scipy error

I'm attempting to use the python app pyikfast to generate an analytic solution to my 6 DOF arm. I was able to successfully run the pyikfast solver on the PUMA 560 arm so I know the solver can work. It ...
MAP3's user avatar
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1 vote
0 answers
85 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
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3 answers
360 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 ...
Mubashir's user avatar
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0 answers
30 views

How to fix no transform from left and right drive wheels of the mobile robot to map in rviz2 in RPS2?

I have mobile robot publish /cmd_vel topic from Roboteq Motor Controller. Also have 2D Lidar publish /scan topic with a frame id laser_link. My RealSense Depth ...
Macedon971's user avatar
1 vote
1 answer
95 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
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0 answers
77 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
0 votes
2 answers
116 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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0 votes
2 answers
143 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
0 answers
53 views

Mobile robot moving around can not visualize in RVIZ, why so?

I have a mobile robot that is able to visualise it in Rviz. But when the robot moves it doesn't show it in rviz, only shows the laser scans, but the robot model is static. The Lidar frame id is ...
Macedon971's user avatar
0 votes
1 answer
41 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 ...
S ELANCHEZHIYAN's user avatar
0 votes
1 answer
64 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
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0 votes
0 answers
44 views

urdf error. It have some including xacro files

I used the include xacro command to combine three urdf.xacro files into one, and only one xacro is loaded through XML conversion from 'robot_description' via ...
ertretff's user avatar
0 votes
0 answers
49 views

How to have a child link with two parent links for URDF

As the title states, there is a link on my robot that is connected to two different parent links in seperate places. I don't know how to do this as it says that every single link must be unique. Is ...
John Miller's user avatar

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