Spawned model not alligned to ground_plane in Gazebo (Not spawned at origin)

[Joseph1001]

Below is the URDF file i am spawning into Gazebo.

<?xml version="1.0"?>
<robot name="mira">

    <material name="grey">
        <color rgba="0.75 0.75 0.75 1"/>
    </material>

    <link name="base_link">
    </link>


    <link name="body_link">
        <inertial>
            <origin xyz="0 0 0" rpy="0.0 0 0"/>
            <mass value="0.18" />
            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
        </inertial>

        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <cylinder radius="0.06" length="0.09"/>
            </geometry>
        </collision>

        <visual>
            <origin rpy="0.0 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder radius="0.06" length="0.09"/>
            </geometry>

            <material name="grey"/>

        </visual>
    </link>

    <gazebo reference="body_link">
        <kp>100000.0</kp>
        <kd>100000.0</kd>
        <mu1>10.0</mu1>
        <mu2>10.0</mu2>
        <material>Gazebo/GreyTransparent</material>
    </gazebo>

    <joint name="base_joint" type="fixed">
        <parent link="base_link"/>
        <child link="body_link"/>
        <origin xyz="0.0 0 0.0" rpy="0 0 0"/>
    </joint>


</robot>

When i spawn it, The model is not aligned to the ground frame. When i checked the gazebo properties for both the model and the ground plane, they are both xyz=0 0 0.

.

@staff Then can you tell me why the model is not aligned with the ground plane even when the gazeb0 properties tab show that they share the same position values?

[marco.nc.arruda]

Hi @Joseph1001 ,

Could you share the launch file you are using to spawn the robot model?

[Joseph1001]

Hi @marco.nc.arruda , it was a mistake on my part, its was mentioned in the launch file that the model should spawn at -0.2 0.2 0.2.Thanks for looking into it.

<?xml version="1.0" encoding="UTF-8"?>
<launch>
    <include file="$(find my_mira_description)/launch/spawn_urdf.launch">
        <arg name="x" value="-0.2" />
        <arg name="y" value="0.2" />
        <arg name="z" value="0.2" />
        <arg name="urdf_robot_file" value="$(find my_mira_description)/urdf/mira_simple_origins.urdf" />
        <arg name="robot_name" value="mira" />
    </include>
</launch>

[marco.nc.arruda]

Great, thank you sharing the solution.