Large robot URDF not display properly in rviz and gazebo

Course Support URDF for Robot Modeling
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Hi,

This happens becaus ethe units in Gazebo are meters, if you didnt rescale it probably the dimensions that in SW were mm, Gazebo thinks they are meters.

You have two options:

  1. You open the STL in blender and rescale it to be the correct size
  2. You apple the scale tg in the meshes n the URDF/XACRO/SDF model that you are using .

You decide. My personal recommendation is to have the meshes at the correct scale, it makes it easier to work on the long run

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