Grasp_box2.urdf spawns same object as grasp_box.urdf

[tumoney84]

Hi, the command provided to spawn grasp_box2.urdf spwans the same object as grasp_box.urdf
I had a look at the codes and they are both identical. Could you be able to provide with the updated code? Thanks.

[bayodesegun]

Thank for calling this out.

Could you please tell us which unit and exercise/example where we have this?

[tumoney84]

5.3 Object detection with ROS2

[albertoezquerro]

@tumoney84 Fixed in the notebook. This is the updated code:

<robot name="grasp_box">

    <!-- Colours for RVIZ for geometric elements -->
    <material name="blue">
        <color rgba="0 0 0.8 1"/>
    </material>
    <material name="red">
        <color rgba="0.8 0 0 1"/>
    </material>
    <material name="green">
        <color rgba="0 0.8 0 1"/>
    </material>
    <material name="grey">
        <color rgba="0.75 0.75 0.75 1"/>
    </material>
    <material name="white">
        <color rgba="1.0 1.0 1.0 1"/>
    </material>
    <material name="black">
        <color rgba="0 0 0 1"/>
    </material>


	<!-- * * * Link Definitions * * * -->

    <link name="grasp_box2_base_link">
 	    <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="0.5" />
            <inertia ixx="0.000133333333333" ixy="0.0" ixz="0.0" iyy="0.000133333333333" iyz="0.0" izz="0.000133333333333"/>
        </inertial>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="0.1 0.1 0.1"/>
            </geometry>
        </collision>
        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <box size="0.1 0.1 0.1"/>
            </geometry>
            <material name="blue"/>
        </visual>
    </link>

    <gazebo reference="grasp_box2_base_link">
        <kp>100000.0</kp>
        <kd>100.0</kd>
        <mu1>0.25</mu1>
        <mu2>0.25</mu2>
        <material>Gazebo/Blue</material>
    </gazebo>

</robot>

Thanks for reporting the issue.