Bad robot structure (only white body), on Ylo2 robot

[elpimous]

Hi the team, I have a good xacro model , (a modification of your A1_description) working perfectly on rviz, and joints tested :

[elpimous]

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

[elpimous]

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.

[elpimous]

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

[elpimous]

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.

[DanielChaseButterfield]

@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

[elpimous]

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