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3 votes

Why URDF is preferred for ROS and SDF is preferred for Gazebo ? What is the full detail reasoning behind it?

If you compare the specifications, you'll see that SDF is a richer and much more general format that has support for more types of physical interaction: https://wiki.ros.org/urdf/XML https://sdformat....
danzimmerman's user avatar
2 votes
Accepted

Is there a better command line tool than check_urdf?

To detect xml errors, you can use the xmllint tool. You can also pass a URDF file to gz sdf --check <file>, which will ...
Steven Peters's user avatar
2 votes
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How do I make a robot imported using urdf and ROS2 gravity? It just floats

You can start by checking the e-puck URDF. It can be a good source of inspiration. The problem may come from the conversion of the URDF, which is not creating any physics for the whole robot node. One ...
Yannick Goumaz's user avatar
2 votes
Accepted

Model in gazebo moves violently, with JointTrajectoryController

The issue was with inertia. The inertia was too small and some values were negative. I increased inertia of all the links and it started behaving normally.
JesterHead77's user avatar
2 votes
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SW2URDF model is floating in Gazebo

I resolved it by changing the model (redesigning the model on Solidworks) All the wheels should be touching the floor, in my case the caster wheel is above the ground by 1mm and gazebo is not happy ...
racaraca69's user avatar
2 votes

SW2URDF model is floating in Gazebo

The instructions to attach the base link to "world" would apply if you're modeling a robot with a fixed base, e.g. a fixed robot arm. For mobile robots, you should not need this joint. You ...
azeey's user avatar
  • 411
2 votes
Accepted

URDF for a real robot

For a real robot, do I need a URDF as well? It is not necessary to create a URDF for a real robot, but it's highly recommended. Many of the tools are designed to leverage it. For example the ...
Tully's user avatar
  • 25.1k
2 votes

Add image onto box in URDF file

This ROS Answers response walks you through the steps. My answer is a summary of that post. To add your image, called a texture, you first create a material file, let's call it ...
kscottz's user avatar
  • 121
2 votes
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Does the ros2_control's JointGroupPositionController handle velocity constraints?

No, unfortunately this isn't implemented right now by most of the ros2_controllers (except for, e.g., diff_drive_controller). But it is on the roadmap as far as I know. In general, ros2_controllers ...
Christoph Froehlich's user avatar
2 votes

Model loading in rviz but not visible in gazebo

If you replace all the mesh filenames from: filename="package://diff_drive/meshes/visual/casterWheelLeft.STL" to ...
Vishaal's user avatar
  • 55
2 votes
Accepted

Can I change the axis of rotation of the joints from urdf file?

Yes, you can modify it from its URDF file. Look for the joint tag: ...
Isak Martin Simbolon's user avatar
2 votes

ROS2 MoveIt!2 "No acceleration limit was defined for joint! You have to define acceleration limits in the URDF or joint_limits.yaml"

The names of the joints in joint_limits.yaml are incorrect. It should be shoulder_pan_joint not just ...
Justin's user avatar
  • 96
1 vote

urdf_tutorial no such file or directory

you would need to give an absolute path, rather than a relative one.
nickw's user avatar
  • 658
1 vote
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How to access URDF info inside a transmission interface?

I already had the same problem as you are describing: But this is not yet possible directly from ros2_control side. I'll bring that up on the roadmap for the next LTS version Jazzy. (We recently added ...
Christoph Froehlich's user avatar
1 vote

how to use gazebo ackermann plugin ROS2 Humble

I have been dealing with this for 4 months. The steering_wheel_joint is the steering wheel (like a real car) I started removing it but I remember the robot didn't move correctly. You can make a ...
dani santana's user avatar
1 vote

Can set friction direction based on link cordinate in URDF

I mistakenly used "fdir" instead of "fdir1", fixing it performs what I desired: <fdir1>1 0 0</fdir1>
Tama's user avatar
  • 11
1 vote

Problem with Define Robot Poses (in Moveit Setup Assistant)

TL;DR You need to put a name in the Pose Name: field. This allows the sliders to operate. From MoveIt Setup Assistant (the emphasis is mine): Step 5 Click on the Robot Poses pane. Click Add Pose. ...
Greenonline's user avatar
  • 1,626
1 vote

Why does the laser cut through walls? ray_plugin

The "ray" sensor in Gazebo detects collision shapes. If you want to use the visual shapes, you need to use "gpu_ray" in the sensor type. Also, since "ray" and "...
azeey's user avatar
  • 411
1 vote

Gazebo Garden sensor plugins for ROS 2 URDF files

IMO, the best way to debug this is to first generate your final URDF from the xacro files and then running gz sdf -p path/to/your/urdf_file. This will generate the ...
azeey's user avatar
  • 411
1 vote
Accepted

How can I set the sample rate/frequency for a Webots GPS module?

In Webots the sensor update rate is defined in the controller side when enabling the device by specifying the sampling period in ms (1Hz = 1000ms) and not in the model definition. For the GPS device, ...
Stefania Pedrazzi's user avatar
1 vote
Accepted

How do I integrate webots sensor plugins into a ros2 URDF/Xacro file?

We are aware that there is a lack of documentation on current implemented device interfaces and how to use them. We are currently working on new tutorials for the official ROS 2 documentation. ...
Yannick Goumaz's user avatar
1 vote

Invalid frame ID even if the TF tree is produced correctly

Looking at your tf tree, I see that you have some transforms with timestamps in the range of the 40s and others that are many orders of magnitude larger. (Aka current time since the epoch) with ...
Tully's user avatar
  • 25.1k
1 vote

What gazebo plugins should I use for robotic arm in ROS2-humble?

It really depends on your specific application but common plugins are: gazebo_ros_joint_state_publisher , since the ...
Zein's user avatar
  • 41
1 vote

robot does not spawn in ros2

The robot_state_publisher node is missing in the launch file. The spawn_entity.py node is waiting for a ...
Gaurav Gupta's user avatar
1 vote
Accepted

Gazebo didn’t launch with urdf

I modified the launch file to have the parameter before and outside of <node> ...
Rafmg8's user avatar
  • 11
1 vote

how can I see the camera and laser view in gazebo?

I might add that you can add a GStreamer plugin to your model as well and view it though UDP. ...
Ricardo Halfeld's user avatar
1 vote

Some links and joints don't appear when running Gazebo with ROS2

your model doesn't have any collision, As you can see the base_foot_print and small_box links appears in the left menu as well ...
ahcorde's user avatar
  • 86
1 vote
Accepted

Cannot define robot poses in MoveIt setup assistant

When I adjusted the upper/lower limits, I was able to control the Prismatic joint: ...
Bilal's user avatar
  • 144
1 vote
Accepted

Are there any tutorials for transitioning from Gazebo Sim to Webots?

Yes, there are some resources available that can help you transition from Gazebo to Webots or set up existing ROS 2 robots in Webots. Firstly, the official ROS 2 documentation has a tutorial on how to ...
Yannick Goumaz's user avatar
1 vote

URDF to SDF Frame of Reference Calculation for Base Joint Fixed vs Floating

I think there is an issue with the URDF-to-SDFormat converter in libsdformat's parser_urdf.cc file since it currently ignores ...
Steven Peters's user avatar

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