Hello, I have a problem in spawning the robot which is made with solidworks_urdf_exporter. The robot is able to view in RVIZ but gazebo was crash when i spawned it. I dont know is that the problem with the urdf file or gazebo. Does anyone have the same problem? I have tried to write the urdf file which have simple shape and doesnt contain any mesh file, and It run quite well. Here are some files in my package:
URDF of the robot:
<?xml version="1.0" encoding="utf-8"?>
<robot
name="assem_robot_v2">
<link
name="base_link">
<inertial>
<origin
xyz="8.9816E-05 0.0041274 -4.164E-19"
rpy="0 0 0" />
<mass
value="15" />
<inertia
ixx="0.3595"
ixy="3.3572E-06"
ixz="1.6641E-19"
iyy="0.35965"
iyz="2.2506E-17"
izz="0.71855" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="0 -0.052824 0.00048194"
rpy="0 0 0" />
<mass
value="5" />
<inertia
ixx="0.011147"
ixy="1.025E-19"
ixz="-4.4496E-20"
iyy="0.0037437"
iyz="-8.1217E-05"
izz="0.011713" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/link_1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/link_1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_1"
type="continuous">
<origin
xyz="-0.21213 -0.21213 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="link_1" />
<axis
xyz="0 1 0" />
</joint>
<link
name="wheel_1">
<inertial>
<origin
xyz="0 -1.3878E-17 -5.5511E-17"
rpy="0 0 0" />
<mass
value="2" />
<inertia
ixx="0.0012954"
ixy="1.9991E-20"
ixz="-1.846E-20"
iyy="0.00077087"
iyz="8.1315E-20"
izz="0.00077087" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/wheel_1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/wheel_1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wheel_1"
type="continuous">
<origin
xyz="0 -0.19 0"
rpy="0.34644 0 0" />
<parent
link="link_1" />
<child
link="wheel_1" />
<axis
xyz="1 0 0" />
</joint>
<link
name="link_2">
<inertial>
<origin
xyz="0 -0.052824 0.00048194"
rpy="0 0 0" />
<mass
value="5" />
<inertia
ixx="0.011147"
ixy="8.0762E-20"
ixz="3.928E-19"
iyy="0.0037437"
iyz="-8.1217E-05"
izz="0.011713" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/link_2.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/link_2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_2"
type="continuous">
<origin
xyz="0.212132034355964 -0.212132034355964 0"
rpy="1.5707963267949 0 0" />
<parent
link="base_link" />
<child
link="link_2" />
<axis
xyz="0 1 0" />
</joint>
<link
name="wheel_2">
<inertial>
<origin
xyz="5.5511E-17 -1.1102E-16 0"
rpy="0 0 0" />
<mass
value="2" />
<inertia
ixx="0.0012954"
ixy="4.8218E-20"
ixz="2.1759E-20"
iyy="0.00077087"
iyz="5.421E-20"
izz="0.00077087" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/wheel_2.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/wheel_2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wheel_2"
type="continuous">
<origin
xyz="0 -0.19 0"
rpy="-0.377057232399195 0 0" />
<parent
link="link_2" />
<child
link="wheel_2" />
<axis
xyz="1 0 0" />
</joint>
<link
name="link_3">
<inertial>
<origin
xyz="0 -0.052824 0.00048194"
rpy="0 0 0" />
<mass
value="5" />
<inertia
ixx="0.011147"
ixy="4.3167E-20"
ixz="1.1491E-19"
iyy="0.0037437"
iyz="-8.1217E-05"
izz="0.011713" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/link_3.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/link_3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_3"
type="continuous">
<origin
xyz="-0.212132034355964 0.212132034355964 0"
rpy="1.5707963267949 0 0" />
<parent
link="base_link" />
<child
link="link_3" />
<axis
xyz="0 1 0" />
</joint>
<link
name="wheel_3">
<inertial>
<origin
xyz="0 9.7145E-17 -5.5511E-17"
rpy="0 0 0" />
<mass
value="2" />
<inertia
ixx="0.0012954"
ixy="-3.5382E-20"
ixz="9.898E-21"
iyy="0.00077087"
iyz="-5.421E-20"
izz="0.00077087" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/wheel_3.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/wheel_3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wheel_3"
type="continuous">
<origin
xyz="0 -0.19 0"
rpy="-1.00039004378222 0 0" />
<parent
link="link_3" />
<child
link="wheel_3" />
<axis
xyz="1 0 0" />
</joint>
<link
name="link_4">
<inertial>
<origin
xyz="0 -0.052824 0.00048194"
rpy="0 0 0" />
<mass
value="5" />
<inertia
ixx="0.011147"
ixy="1.0676E-19"
ixz="4.041E-19"
iyy="0.0037437"
iyz="-8.1217E-05"
izz="0.011713" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/link_4.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/link_4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_base_4"
type="continuous">
<origin
xyz="0.21213 0.21213 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="link_4" />
<axis
xyz="0 1 0" />
</joint>
<link
name="wheel_4">
<inertial>
<origin
xyz="-5.5511E-17 5.5511E-17 2.7756E-17"
rpy="0 0 0" />
<mass
value="2" />
<inertia
ixx="0.0012954"
ixy="-3.1801E-20"
ixz="-6.3444E-21"
iyy="0.00077087"
iyz="-2.0329E-20"
izz="0.00077087" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/wheel_4.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://assem_robot_v2/meshes/wheel_4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_wheel_4"
type="continuous">
<origin
xyz="0 -0.19 0"
rpy="-1.6462 0 0" />
<parent
link="link_4" />
<child
link="wheel_4" />
<axis
xyz="1 0 0" />
</joint>
</robot>
Rviz launch file:
<launch>
<let name="urdf_path"
value="$(find-pkg-share assem_robot_v2)/urdf/assem_robot_v2.urdf" />
<node pkg="robot_state_publisher" exec="robot_state_publisher">
<param name="robot_description"
value="$(command 'xacro $(var urdf_path)')" />
</node>
<node pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
<node pkg="rviz2" exec="rviz2" output="screen" />
</launch>
Gazebo launch file
<launch>
<let name="urdf_path"
value="$(find-pkg-share assem_robot_v2)/urdf/assem_robot_v2.urdf" />
<node pkg="robot_state_publisher" exec="robot_state_publisher">
<param name="robot_description"
value="$(command 'xacro $(var urdf_path)')" />
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py" />
<node pkg="gazebo_ros" exec="spawn_entity.py"
args="-topic robot_description -entity assem_robot_v2" />
</launch>
