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: ...
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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
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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 ...
aman noufel's user avatar
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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 ...
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
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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 ...
Constant Roux'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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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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建立urdf时,节点type="fixed"显示正常,type="continuous"异常

urdf在这里 ...
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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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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 ...
ertretff's user avatar
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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?
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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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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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: <...
pdaranda661's user avatar
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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 ...
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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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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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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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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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
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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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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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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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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
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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
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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
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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
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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
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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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93 views

No Fixed Frames in RVIZ2 are shown

I tried to show the URDF of a complex robotic arm in rviz2, but nothing shows in the fixed frames in rviz2, the dropdown menu of fixed frames is empty. I am using ROS2 Humble, with rviz2 (11.2.9). The ...
Hasan Shadi's user avatar
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72 views

libignition-gazebo-diff-drive-system does create the cmd_vel topic

I am trying to make my own robot, I am using ROS2-humble on Ubuntu 22.04 with gazebo ignition fortress. so I came across this problem where the ...
abdo Salm's user avatar
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Riding a robot model in Gazebo along a straight, curved path with feedback on a Raspberry running ROS

please be kind and advise how to implement the following: I have a computer with ROS and Gazebo in which I have a robot model in URDF format, I need this model to go on a straight/curved path(straight/...
Perry's user avatar
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how to export sdf file from onshape?

I had problems extracting urdf file from solidworks, because I am working on a delta robot (closed chain). So I redesigned the robot in onshape which I read that it can be extracted directly as sdf. ...
issam_ks's user avatar
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1 answer
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Hexapod model in Gazebo is sliding in place, like there is no friction

I got model of hexapod in gazebo v11.10.2 with ro2-humble. I am controlling it with JTC controller. Model in gazebo is sliding and moving in place. Changing mu1 m2 coefficient in urdf does not seem to ...
JesterHead77's user avatar
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1 answer
49 views

How to move the link origin?

I understand that the collision, visual, and inertial origins are all starting from the link origin, but how do you change the link origin? I have a joint in the wrong place (relative to the child ...
Muse Eyassu Gimicael's user avatar
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RobotModel error RVIZ

I am trying to add a scooter URDF to my package so I can add sensors and use it on ROS2 - gazebo. I came across a github repo that include the scooter URDF in and meshes (everything I need). I tried ...
Yasser Salem's user avatar
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1 answer
158 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 ...
suhjw2762's user avatar
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102 views

xacro: Substitution args not supported: cannot import name 'Log' from 'rosgraph_msgs.msg' in ubutnu desktop 22.04

I am very new to ROS2 and have only been practising for a few days so i am having a really tough time trying to find the solution. I am on a dual boot PC with Windows 11 and Ubuntu 22.04, and i am ...
Akshit's user avatar
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How to model underactuated joint to extract the angle for controll?

Assume if I have a pendulum on a robot cart or a trailer on a robot. These are system which passivly follow the robot. If you want to control them how do you access the angle? I have investigated this ...
Hamzalihi's user avatar
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Error while launching URDF in RVIZ: "junk after document element"

I have followed the Nav2 tutorial for setting up my URDF, but this error had me stuck on section1 for days. Knowingly, I'm using the URDF and mesh files from an open repository https://github.com/...
quark epsi's user avatar
0 votes
1 answer
388 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 ...
Lapiz's user avatar
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