'URDF loading incorrectly in RVIZ but correctly on Gazebo, what is the issue?
I have imported a urdf model from Solidworks using SW2URDF plugin. The model loads correctly on Gazebo but looks weird on RVIZ, even while trying to teleoperate the robot, the revolute joint of the manipulator moves instead of the wheels. Is there anyone who has faced this issue before or has a solution to it?
Here is how it looks on Gazebo
Here is how it looks on RVIZ
Here is the URDF file of the Model:
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="final_assembly3">
<link name="world" />
<joint name="fixed" type="fixed">
<parent link="world" />
<child link="base_link" />
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="0.14768 0.23303 0.22798"
rpy="0 0 0" />
<mass
value="7.6442" />
<inertia
ixx="0.075629"
ixy="3.85E-09"
ixz="-9.5343E-08"
iyy="0.14294"
iyz="1.6837E-11"
izz="0.081345" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="Wheel 1">
<inertial>
<origin
xyz="-3.2558E-07 1.0722E-07 0.030838"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 1.STL" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 1.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 1"
type="continuous">
<origin
xyz="-0.0034084 -0.12798 0.10053"
rpy="-1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 1" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 2">
<inertial>
<origin
xyz="-3.2557837015279E-07 1.07217308559227E-07 0.0308380289896838"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 2.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 2.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 2"
type="continuous">
<origin
xyz="0.29877 -0.32798 0.10053"
rpy="1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 2" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 3">
<inertial>
<origin
xyz="-3.26336083100731E-07 1.07668861937249E-07 -0.0308380347831287"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 3.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 3.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 3"
type="continuous">
<origin
xyz="-0.0034084 -0.32798 0.10053"
rpy="1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 3" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 4">
<inertial>
<origin
xyz="-3.26299866348911E-07 1.07652009542769E-07 0.0291707139063403"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 4.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 4.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 4"
type="continuous">
<origin
xyz="0.30046 -0.12798 0.10053"
rpy="1.5708 0.62487 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 4" />
<axis
xyz="0 0 1" />
</joint>
<gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>50.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
<link
name="New Static Link">
<inertial>
<origin
xyz="0.0172790917411035 0.102994908792773 -0.000286417787769305"
rpy="0 0 0" />
<mass
value="1.94401355435528" />
<inertia
ixx="0.00768941377852196"
ixy="-0.0023016367314421"
ixz="2.28881904576314E-05"
iyy="0.00450259485431559"
iyz="3.78227208152756E-05"
izz="0.0103483641272583" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/New Static Link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/New Static Link.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Fixed"
type="fixed">
<origin
xyz="0.14768 -0.22798 0.33053"
rpy="1.5708 0 -1.581" />
<parent
link="base_link" />
<child
link="New Static Link" />
<axis
xyz="0 1 0" />
</joint>
<link
name="Arm">
<inertial>
<origin
xyz="0.13229755761114 -0.000278839398755615 -0.0323012411261709"
rpy="0 0 0" />
<mass
value="1.80462691606488" />
<inertia
ixx="0.00337104522287667"
ixy="2.3173417802539E-05"
ixz="-0.000161183912931026"
iyy="0.0199987994056373"
iyz="-1.64319461670501E-06"
izz="0.0222082055539029" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Arm.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Arm.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Rev1"
type="revolute">
<origin
xyz="0.06 0.18 -0.030782"
rpy="0 0 0.18829" />
<parent
link="New Static Link" />
<child
link="Arm" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 1">
<inertial>
<origin
xyz="0.0335816493728636 1.71749397870347E-07 0.0119354658625156"
rpy="0 0 0" />
<mass
value="0.123182781546625" />
<inertia
ixx="3.77360992389157E-05"
ixy="1.28183032967861E-11"
ixz="-5.81374538385023E-06"
iyy="0.000122947375330809"
iyz="2.65123689114698E-10"
izz="0.000144337931781889" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 1.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 1"
type="revolute">
<origin
xyz="0.1 0 -0.063391"
rpy="3.1416 0 -1.9477" />
<parent
link="Arm" />
<child
link="Pris 1" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 2">
<inertial>
<origin
xyz="1.8466057571942E-09 -5.55111512312578E-17 0.01"
rpy="0 0 0" />
<mass
value="0.260668670250234" />
<inertia
ixx="7.94869252643328E-05"
ixy="-2.07014852308951E-18"
ixz="2.73993982613085E-18"
iyy="0.00115947637560852"
iyz="1.99348984198689E-09"
izz="0.00122317832768109" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 2.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 2"
type="revolute">
<origin
xyz="-0.0014893 -0.078861 0.020827"
rpy="0 0 0.90855" />
<parent
link="Pris 1" />
<child
link="Pris 2" />
<axis
xyz="0 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 3">
<inertial>
<origin
xyz="-0.166565243027124 0.000967072198009372 0.0300000329001753"
rpy="0 0 0" />
<mass
value="0.449710314809642" />
<inertia
ixx="0.00137456804218307"
ixy="-4.43060167581936E-05"
ixz="9.82391747567394E-10"
iyy="0.002208699287522"
iyz="-1.54947639651244E-09"
izz="0.00315643719811711" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 3.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 3"
type="prismatic">
<origin
xyz="0.20514 0.030503 -0.039218"
rpy="-1.5708 0 3.1416" />
<parent
link="Arm" />
<child
link="Pris 3" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
</robot>
ROS version:ROS Melodic
Ubuntu 18.04
Solution 1:[1]
So, I realized two problems:
First, you have to change the fixed frame in the global options of RViz to world or provide a transformation between map and world.
Second, your URDF seems broken. There is something wrong with your revolute-typed joints. Changing their type to fixed fixed the problem. I think, it's best if you ask a separate question with a minimal example regarding this second problem.
Sources
This article follows the attribution requirements of Stack Overflow and is licensed under CC BY-SA 3.0.
Source: Stack Overflow
| Solution | Source |
|---|---|
| Solution 1 | J.P.S. |