Closed elpimous closed 1 year ago
I used your command line to create urdf and sdf files :
rosrun xacro xacro --inorder -o /home/ylo2/catkin_ws/src/quad-sdk/quad_simulator/ylo2_description/urdf/ylo2.urdf /home/ylo2/catkin_ws/src/quad-sdk/quad_simulator/ylo2_description/xacro/robot.xacro DEBUG:=false
and
gz sdf -p /home/ylo2/catkin_ws/src/quad-sdk/quad_simulator/ylo2_description/urdf/ylo2.urdf > /home/ylo2/catkin_ws/src/quad-sdk/quad_simulator/ylo2_description/sdf_mesh/ylo2.sdf
I had an error on sdf file. this line was fault : I removed it !
when launching : roslaunch quad_utils quad_gazebo.launch robot_type:=ylo2
I don't see any error on terminal.
Checking SDF file :
ylo2@ylo2-ROG-Strix-G713QR-G713QR:~$ gz sdf -k /home/ylo2/catkin_ws/src/quad-sdk/quad_simulator/ylo2_description/sdf_mesh/ylo2.sdf
Check complete
Checking URDF file :
ylo2@ylo2-ROG-Strix-G713QR-G713QR:~$ check_urdf <(xacro /home/ylo2/catkin_ws/src/quad-sdk/quad_simulator/ylo2_description/xacro/ylo2.xacro)
robot name is: ylo2_description
---------- Successfully Parsed XML ---------------
root Link: body has 1 child(ren)
child(1): trunk
child(1): hip2
child(1): upper2
child(1): lower2
child(1): toe2
child(2): thigh_shoulder2
child(2): hip3
child(1): upper3
child(1): lower3
child(1): toe3
child(2): thigh_shoulder3
child(3): hip0
child(1): upper0
child(1): lower0
child(1): toe0
child(2): thigh_shoulder0
child(4): hip1
child(1): upper1
child(1): lower1
child(1): toe1
child(2): thigh_shoulder1
child(5): D435
child(6): T265
child(7): abad_motors
child(8): accessories
child(9): battery
child(10): covers
child(11): imu_link
Well. SDF creation wasn't a success !!!
I corrected some things, starting from A1 original sdf file...
Now, working correctly.
Hope it will help each other.
@elpimous I'm having a very similar issue, I checked my sdf and urdf files, and they still don't work. You mentioned "I corrected some things, starting from A1 original sdf file..." Do you remember what you did?
Currently, I'm taking out the "ignition" line as you did earlier in this thread.
Also, I noticed that running gz sdf
currently generates a sdf file with version=1.7 instead of 1.6 as before, so I wondered if that could be the cause. However, when I try to use gz sdf
to generate a file with version=1.6, I get the following error:
Error [SDF.cc:459] Unable to find SDF filename[root.sdf] with version =1.7
Error [parser.cc:159] Could not find the 'element' element in the xml file
ERROR: SDF parsing the xml failed
Hi Daniel. Building SDF file from command Line don t work for me. I had to use a default one, for ex A1, and adapt it with my one. (I did the SDF build command line, only to be able to extract needed values, for mt A1 adapted SDF file. A long process, but working. Hope it will help you Vincent
Hi the team, I have a good xacro model , (a modification of your A1_description) working perfectly on rviz, and joints tested :
![Capture d’écran de 2023-01-31 00-01-06](https://user-images.githubusercontent.com/8529940/215617108-bd1b91ce-3339-485d-9f25-cde8c76b14b0.png)