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3

It's a limitation in Gazebo's ability to convert URDF to SDF, Gazebo's native object description format. Frustratingly, RViz works the other way around: it correctly parses URDF colors, but not the SDF fragments inserted by the gazebo tag. One tip though, instead of inlining your material definitions inside links, it's better to define them once at the ...


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That is a long list of broad questions. Some of the answers depend heavily on application and personal preference. Assuming you're not using ROS2, then you might consider looking at the ros_control package. Not necessarily to use - just read through their architecture and tutorials for now. It will at least help give you an idea of where to start. As for ...


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Shapes are called links because they're not joints. Keep in mind that these are for robotics and robotic simulations, so the primary concern is going to be expressing the robot's physical structure in such a way that it can be readily used/evaluated by conventional kinematic and dynamic techniques. Notably, Gazebo and the URDF formats are not drafting ...


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It depends. If you're spawning the robot at runtime, either through the spawn_model service or from the Gazebo model database, then you can just just remove the robot from the simulation (click it and hit the <Delete> key), edit the model file and load it again. If it's directly included in the world file, then as far as I can find, no, you cannot reload ...


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If you mean merging other world's contents into an open world file in the Gazebo GUI, no, there is no way to do that. You can however open the world files in a text editor and just copy contents over. Most worlds are structured as a sequence of <include> tags pointing to external models, so this would be quite easy to do. Notice you can add a <pose&...


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You might be confusing Gazebo worlds and models. A world is a single SDF file structured as below: <sdf version="VERSION"> <world name="NAME"> <!-- Included models, links etc. --> </world> </sdf> For example, these are the contents of the sample /usr/share/gazebo-9/worlds/willowgarage.world world file: <?xml ...


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It is always recommended to mention your ROS distribution and OS. I believe the error is coming from missing ROS package controller_manager. You can download and install it from the following link https://github.com/ros-controls/ros_control


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You can call gazebo passing the world file as argument, modify it and use File -> Save As... overwriting the original file. But a more robust approach is bypassing the GUI editor entirely and creating world and model files directly in your text editor of choice. The reason GUI editing features don't seem very robust is probably because advanced users ...


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I suppose that what you're seeing when you add your robot model to the world is something like this: That is, only the top part of the robot is visible. The problem is not that the bottom part isn't there, it's just that the robot's origin is the joint between the two parts, therefore the lower part is below the floor. If you rotate the world (hold <...


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I've never used ROS or Gazebo before, but it looks like all of your components are defined as being part of the same link, so Gazebo may be applying the last-specified color to all components because, as the documentation is written, The link element describes a rigid body with an inertia, visual features, and collision properties. Describes A rigid ...


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The origin defined inside link_01 is not the position of the cylinder in the global coordinate frame (the "world"), but in its own private frame. By default the object's center lies at the origin of its own coordinate frame, but in this case, the cylinder is shifted $0.2 m$ upwards along the $z$ axis, placing its bottom on the origin. The effect of this ...


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I have never used it ,because I have always dealt with custom simulators but I know others have had success with the RotorS simulator. Answers to your questions: 1) Can I modify these models so that it can simulate my drone? Is it enough to change the geometry, mass and inertias to make it work? Kind of. You could just take one of their existing models,...


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A. It seems your robot is not fixed to gazebo world so you have to add a joint to fix in gazebo environment. Add below content into your urdf file and child link should be your base link name. B. Fine tune damping and friction values of dynamics tag for all joints in urdf file. C. if more of your robot start vibrating than fine tune PID gain values from ...


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