Simulation of the swd_starter_kit

[ayoubnaitchrif]

Hello,
I am trying to create a gazebo simulator for the robot, using this package, so I can test different programs before implementing them on the robot, , but but the links seem to be out of place like you can see in the next picture:

Can you, please, help me with this?
Thanks in advance.

[ayoubnaitchrif]

Also, what am I supposed to see after running the gazebo.launch file, because I don't get any error but I still see nothing but the empty world. Thanks for helping.

[GMezWheel]

Hi @ayoubnaitchrif,

This launcher spawns an entity swd_starterkit at 0,0,0 into an empty world.
=> but I confirm that no starterkit is displayed

I think that there is an error into the urdf.

ezwdev@ezwdev-VM: ros_ws $ ign sdf -p src/swd_starter_kit_description/urdf/swd_starter_kit.urdf 
<sdf version='1.7'>
  <model name='swd_starter_kit'/>
</sdf>
ezwdev@ezwdev-VM: ros_ws $ cat ~/.sdformat/sdformat.log

Dbg [parser_urdf.cc:418] Fixed Joint Reduction: extension lumping from [lidar_link] to [base_link]
Dbg [parser_urdf.cc:418] Fixed Joint Reduction: extension lumping from [swd_left_link] to [base_link]
Dbg [parser_urdf.cc:418] Fixed Joint Reduction: extension lumping from [swd_right_link] to [base_link]
Dbg [parser_urdf.cc:2627] urdf2sdf: link[base_link] has no inertia, [3] children links ignored.
Dbg [parser_urdf.cc:2635] urdf2sdf: link[base_link] has no inertia, [3] children joints ignored.
Dbg [parser_urdf.cc:2649] urdf2sdf: link[base_link] has no inertia, not modeled in sdf
Dbg [parser.cc:420] parse from urdf file [/disk1/workspace-ezw/ros_ws/src/swd_starter_kit_description/urdf/swd_starter_kit.urdf].

I'll try to fix it as soon as possible.

[GMezWheel]

I confirm that inertia is missing for each links:
If I had them into urdf file, the entity is spawn.

Quick fix:

...
<link name="swd_right_link">
    <inertial>    
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  ...

[GMezWheel]

Hello, I am trying to create a gazebo simulator for the robot, using this package, so I can test different programs before implementing them on the robot, , but but the links seem to be out of place like you can see in the next picture:

Can you, please, help me with this? Thanks in advance.

I confirm that the TF for each links are not well computed.
=> each links have negative z values instead of positive values

I'll try to fix it as soon as possible.

[ayoubnaitchrif]

I confirm that inertia is missing for each links: If I had them into urdf file, the entity is spawn.

Quick fix:

...
<link name="swd_right_link">
    <inertial>    
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  ...

Thank you, I appreciate your help

Hello, I am trying to create a gazebo simulator for the robot, using this package, so I can test different programs before implementing them on the robot, , but but the links seem to be out of place like you can see in the next picture:
Can you, please, help me with this? Thanks in advance.

I confirm that the TF for each links are not well computed. => each links have negative z values instead of positive values

I'll try to fix it as soon as possible.

Thanks, please let me know if you find how we can fix it.