Comments (4)
nilseuropa
commented on June 12, 2024
Hi,
curious, never tried it on Gazebo-9, but that sensor type should be supported. Would you care to share your URDF?
from realsense_ros_gazebo.
belal-ibrahim
commented on June 12, 2024
Hi, here is my xacro file:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import all Gazebo-customization elements, including Gazebo colors -->
<xacro:include filename="$(find abb_robot_model)/urdf/abb_robot.gazebo.xacro"/>
<xacro:include filename="$(find abb_robot_model)/urdf/_d435i.gazebo.xacro"/>
<xacro:include filename="$(find abb_robot_model)/urdf/_d435i.urdf.xacro"/>
<!--xacro:include filename="$(find abb_robot_model)/urdf/depthcam.xacro"/-->
<xacro:include filename="$(find abb_robot_model)/urdf/tracker.xacro" />
<!-- Import Transmissions -->
<xacro:include filename="$(find abb_robot_model)/urdf/abb_robot.transmission.xacro"/>
<!-- Include Utilities -->
<xacro:include filename="$(find abb_robot_model)/urdf/utilities.xacro" />
<!-- some constants -->
<xacro:property name="safety_controller_k_pos" value="100" />
<xacro:property name="safety_controller_k_vel" value="2" />
<xacro:property name="joint_damping" value="0.5" />
<xacro:property name="max_effort" value="300"/>
<xacro:property name="max_velocity" value="10"/>
<xacro:arg name="use_nominal_extrinsics" default="true" />
<xacro:macro name="abb_robot" params="parent hardware_interface robot_name *origin">
<!--joint between {parent} and mobilePlatform-->
<joint name="${parent}_${robot_name}_joint" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="${parent}"/>
<child link="${robot_name}_mobilePlatform"/>
</joint>
<link name="${robot_name}_mobilePlatform">
<inertial>
<origin xyz="-2.4 0.92 -2.5" rpy="1.57 0 0"/>
<mass value="2"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
<visual>
<origin xyz="-2.4 0.92 -2.5" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/tools/mobilePlatform.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</visual>
</link>
<!--joint between {parent} and link_0-->
<joint name="${robot_name}_mobilePlatform" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="${robot_name}_mobilePlatform"/>
<child link="${robot_name}_link_0"/>
</joint>
<link name="${robot_name}_link_0">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.050"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
<visual>
<origin xyz="-0.72643375 -0.395 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/link_0.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="-0.72643375 -0.395 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/collision/link_0_hull.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</collision>
<self_collision_checking>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<capsule radius="0.15" length="0.25"/>
</geometry>
</self_collision_checking>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="${robot_name}_joint_1" type="revolute">
<parent link="${robot_name}_link_0"/>
<child link="${robot_name}_link_1"/>
<origin xyz="0 0 0.630" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-180.0 * PI / 180}" upper="${180.0 * PI / 180}"
effort="${max_effort}" velocity="${max_velocity}" />
<safety_controller soft_lower_limit="${-179.5 * PI / 180}"
soft_upper_limit="${179.5 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_name}_link_1">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<mass value="0.050"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005" />
</inertial>
<visual>
<origin xyz="-0.331 -0.4645 -0.630" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/link_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="-0.331 -0.4645 -0.630" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/collision/link_1_hull.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="${robot_name}_joint_2" type="revolute">
<parent link="${robot_name}_link_1"/>
<child link="${robot_name}_link_2"/>
<origin xyz="0.60 0.0 0.0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="${-40.0 * PI / 180}" upper="${160.0 * PI / 180}"
effort="${max_effort}" velocity="${max_velocity}" />
<safety_controller soft_lower_limit="${-39.5 * PI / 180}"
soft_upper_limit="${159.5 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_name}_link_2">
<inertial>
<origin xyz="0.0 0.060 0.0" rpy="0 0 0"/>
<mass value="0.050"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005" />
</inertial>
<visual>
<origin xyz="-.60 -.45 -.630" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/link_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="-.60 -.45 -.630" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/collision/link_2_hull.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="${robot_name}_joint_3" type="revolute">
<parent link="${robot_name}_link_2"/>
<child link="${robot_name}_link_3"/>
<origin xyz="0 0 1.280" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="${-180.0 * PI / 180}" upper="${70.0 * PI / 180}"
effort="${max_effort}" velocity="${max_velocity}" />
<safety_controller soft_lower_limit="${-179.5 * PI / 180}"
soft_upper_limit="${69.5 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_name}_link_3">
<inertial>
<origin xyz="0.030 0.020 0.0" rpy="0 0 0"/>
<mass value="0.050"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005" />
</inertial>
<visual>
<origin xyz="-.6 -.28 ${-.63-1.28}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/link_3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="-.6 -.28 ${-.63-1.28}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/collision/link_3_hull.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="${robot_name}_joint_4" type="revolute">
<parent link="${robot_name}_link_3"/>
<child link="${robot_name}_link_4"/>
<origin xyz="0.0 0.0 0.20" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="${-300.0 * PI / 180}" upper="${300.0 * PI / 180}"
effort="${max_effort}" velocity="${max_velocity}" />
<safety_controller soft_lower_limit="${-299.5 * PI / 180}"
soft_upper_limit="${299.5 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_name}_link_4">
<inertial>
<origin xyz="0 0.067 0.034" rpy="0 0 0"/>
<mass value="2.7"/>
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029" />
</inertial>
<visual>
<origin xyz="-.6 -0.187 ${-.63-1.28-.2}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/link_4.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="-.6 -0.187 ${-.63-1.28-.2}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/collision/link_4_hull.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="${robot_name}_joint_5" type="revolute">
<parent link="${robot_name}_link_4"/>
<child link="${robot_name}_link_5"/>
<origin xyz="1.142 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="${-120.0 * PI / 180}" upper="${120.0 * PI / 180}"
effort="${max_effort}" velocity="${max_velocity}" />
<safety_controller soft_lower_limit="${-119.5 * PI / 180}"
soft_upper_limit="${119.5 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_name}_link_5">
<inertial>
<origin xyz="0.0 0.0 0.055" rpy="0 0 0"/>
<mass value="0.025"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
<visual>
<origin xyz="${-.6-1.142} -0.093 ${-.63-1.28-.2}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/link_5.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="${-.6-1.142} -0.093 ${-.63-1.28-.2}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/collision/link_5_hull.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="${robot_name}_joint_6" type="revolute">
<parent link="${robot_name}_link_5"/>
<child link="${robot_name}_link_6"/>
<origin xyz="0.20 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="${-360.0 * PI / 180}" upper="${360.0 * PI / 180}"
effort="${max_effort}" velocity="${max_velocity}" />
<safety_controller soft_lower_limit="${-359.5 * PI / 180}"
soft_upper_limit="${359.5 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_name}_link_6">
<inertial>
<origin xyz="0.0125 0.0 0.0" rpy="0 0 0"/>
<mass value="0.010"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
<visual>
<origin xyz="${-.6-1.142-.2} -0.10 ${-.63-1.28-.2}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/link_6.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin xyz="${-.6-1.142-.2} -0.10 ${-.63-1.28-.2}" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/collision/link_6_hull.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<joint name="${robot_name}_joint_endeffector" type="fixed">
<parent link="${robot_name}_link_6"/>
<child link="${robot_name}_link_endEffector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="${robot_name}_link_endEffector">
<inertial>
<origin xyz="0.0 0.0 0.0150" rpy="0 0 0"/>
<mass value="0.010"/>
<inertia ixx="000" ixy="0" ixz="0" iyy="0000" iyz="0" izz="000" />
</inertial>
<visual>
<origin xyz="0 -0.003 0" rpy="0 0 0"/> <!-- x=front y=right z=up-->
<geometry>
<mesh filename="package://abb_robot_model/urdf/meshes/visual/tools/gripper.stl" />
</geometry>
<material name="Grey"/>
</visual>
</link>
<xacro:sensor_d435i parent="${robot_name}_link_endEffector" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<origin xyz="0.09 -0.003 0.1" rpy="0 0 0"/>
</xacro:sensor_d435i>
<xacro:realsense_T265 sensor_name="camerat265" parent_link="${robot_name}_link_endEffector" rate="30">
<origin rpy="0 0 0" xyz="0.09 -0.005 0.05"/>
</xacro:realsense_T265>
<!-- for testing purposes with different nominal extrinsics>
<xacro:macro name="sensor_d435i" params="parent *origin name:=camera use_nominal_extrinsics:=false">
<xacro:sensor_d435 parent="${robot_name}_link_endEffector" name="${name}" use_nominal_extrinsics="${use_nominal_extrinsics}">
<xacro:insert_block name="origin" />
</xacro:sensor_d435>
<xacro:d435i_imu_modules name="${robot_name}_link_endEffector" use_nominal_extrinsics="${use_nominal_extrinsics}"/>
</xacro:macro-->
<!--xacro:realsense_d435 sensor_name="d435" parent_link="${robot_name}_link_endEffector" rate="10">
<origin rpy="0 0 0 " xyz="0.09 -0.003 0.1"/>
</xacro:realsense_d435-->
<!--Extensions -->
<xacro:abb_robot_gazebo robot_name="${robot_name}" />
<xacro:abb_robot_transmission hardware_interface="${hardware_interface}"/>
</xacro:macro>
</robot>
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belal-ibrahim
commented on June 12, 2024
most of the files in this link (https://bit.ly/2ILPflh)
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janchk
commented on June 12, 2024
The one of the possible causes to that problem may be the absence of some ROS packages such as ros-*distroname*-sensor-msgs.
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