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
1 vote
2 answers
156 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
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
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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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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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3 answers
498 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
136 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
178 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
525 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
364 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
151 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
2 answers
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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
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 ...
Markus Simonsen's user avatar
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
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
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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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 ...
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
46 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
191 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
78 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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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
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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 ...
HES'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
0 votes
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 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
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2 answers
41 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
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1 answer
98 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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0 votes
1 answer
231 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
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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
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 ...
yz x's user avatar
  • 3
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
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
1 answer
45 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
0 votes
1 answer
53 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
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0 votes
1 answer
57 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
0 votes
1 answer
217 views

robot does not spawn in ros2

I am trying to spawn custom urdf in ros2. I have following launch file ...
Mubashir's user avatar
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1 answer
46 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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0 votes
3 answers
186 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
75 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
179 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
0 votes
1 answer
45 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
226 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
2 answers
159 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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0 votes
1 answer
98 views

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.
Unai Granados Ormaetxea's user avatar
0 votes
1 answer
96 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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