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rosroboticsgazebo-simurvizurdf
Mubashir
Mubashir

Reputation: 145

Robotic arm fall to ground in gazebo

I create a custom URDF in Solidworks and simulate it in ROS when ever I launch the robot in the gazebo simulator the arm fall to the ground. the robot is perfectly fine in rviz. left rviz simulator the one is right gazebo simulator

Upvotes: 1

Views: 933

Answers (2)

Pouyan
Pouyan

Reputation: 51

You should add a world link like blow to your URDF file:

<link name="world" />
<joint name="robot_in_world" type="fixed" >
    <origin xyz="0 0 0.0" rpy="0 0 0" />
    <parent link="world" />
    <child link="robot_base_link" />
    <axis xyz="0 0 1" />    
</joint>

Upvotes: 1

ignacio
ignacio

Reputation: 1197

That is because you are not sending any signals to the joints, so it is behaving as links connected to a movable joint that is not powered. You need to:

Define the joints as fixed joints as

    <joint name="footprint" type="fixed" >
        <parent link="base_footprint" />
        <child link="base_link" />
        <origin xyz="0 0 0.05" rpy="0 0 0" />
    </joint>

or add a controller to your system as described here.

Follow the Gazebo ROS Control to add those to your system and be able to interact with your joints via the joint_state_publisher topic.

Upvotes: 3

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