# Urdf problem with Gazebo

**URL:** <https://get-help.theconstruct.ai/t/urdf-problem-with-gazebo/6624>\
**Category:** URDF for Robot Modeling\
**Tags:** urdf, gazebo\
**Created:** [December 1, 2020, 3:38pm UTC](https://get-help.theconstruct.ai/t/urdf-problem-with-gazebo/6624 "2020-12-01T15:38:01Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![saxosun](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/saxosun/32/9368_2.png) [@saxosun](https://get-help.theconstruct.ai/u/saxosun)\
**Post date:** [December 1, 2020, 3:38pm UTC](https://get-help.theconstruct.ai/t/urdf-problem-with-gazebo/6624/1 "2020-12-01T15:38:01Z")

</div>

Hi,  
I tried to build a three-wheeled forklift from scratch. I generated stl with a cad and file.dae with blender. I assigned the colors to the right wheel via Blender itself. I was able to view in Rviz as the image shows. But if I try to spawn the urdf in Gazebo I don’t see anything, but the system returns:

 ![gazebo](https://get-help.robotigniteacademy.com/uploads/default/original/2X/b/bef367c1dde1500880376acf6467d25805016deb.png)  
I have attached the urdf file.  
Any help is appreciated  
Thanks  
Salvatore

 ![forklift on rviz](https://get-help.robotigniteacademy.com/uploads/default/original/2X/9/9058de364fb18ff959d42d4cb210c4e9358571c1.jpeg)

\<?xml version="1.0"?\> 

```
<!-- * * * Link Definitions * * * -->
<link name="base_link">

    <inertial>
        <origin xyz="0.34 0.009 0.57" rpy="0 0 0"/>            
        <mass value="198.0" />
        <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>

    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <mesh filename="package://ME10C_tpx4350_description/models/ME10C_tpx4350/meshes/ME10C_tpx4350.dae"/>
        </geometry>
    </collision>  

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <mesh filename="package://ME10C_tpx4350_description/models/ME10C_tpx4350/meshes/ME10C_tpx4350.dae"/>
        </geometry>
        <material name="red"/>
    </visual>

</link>

<gazebo reference="base_link">
    <kp>100000.0</kp>
    <kd>100000.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Red</material>
</gazebo>

<link name="Motor_Gear_link">
    <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/> <!-- posizione CoM rispetto SdR1 -->           
        <mass value="80" />
        <inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.05" iyz="0.0" izz="0.05"/>
    </inertial>

    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
             <cylinder length="0.100" radius="0.100"/>
        </geometry>
    </collision>  

    <visual>
        <origin rpy="0.0 0 0" xyz="0 0 0"/>
        <geometry>
            <cylinder length="0.100" radius="0.100"/>
        </geometry>
        <material name="grey"/>
    </visual>

</link>

<gazebo reference="Motor_Gear_link">
    <kp>100000.0</kp>
    <kd>100000.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

 <joint name="yaw_joint" type="revolute">
    <parent link="base_link"/>
    <child link="Motor_Gear_link"/>
    <origin xyz="0 0 0.5" rpy="0 0 0"/> <!-- posizione SdR1 del Motor_Gear_link -->
    <limit lower="-0.2" upper="0.2" effort="0.1" velocity="0.005"/>
    <axis xyz="0 0 1"/>
</joint>

<link name="wrc_link">
    <inertial>
        <origin xyz="0 0.009 0.150" rpy="0 0 0"/>            
        <mass value="30" />
        <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>

    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <mesh filename="package://ME10C_tpx4350_description/models/ME10C_tpx4350/meshes/wrc.dae"/>
        </geometry>
    </collision>  

    <visual>
        <origin rpy="0.0 0 0" xyz="0 0 0"/>
        <geometry>
            <mesh filename="package://ME10C_tpx4350_description/models/ME10C_tpx4350/meshes/wrc.dae"/>
        </geometry>
        <material name="grey"/>
    </visual>

</link>

<gazebo reference="wrc_link">
    <kp>100000.0</kp>
    <kd>100000.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="wrc_joint" type="revolute">
    <parent link="Motor_Gear_link"/>
    <child link="wrc_link"/>
    <origin xyz="0 0 -0.35" rpy="0 0 0"/>
    <limit lower="-0.2" upper="0.2" effort="0.1" velocity="0.005"/>
    <axis xyz="1 0 0"/>
</joint>

<link name="wfl_link">
    <inertial>
        <origin xyz="0 0.0 0" rpy="0 0 0"/>            
        <mass value="30" />
        <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>

    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <mesh filename="package://ME10C_tpx4350_description/models/ME10C_tpx4350/meshes/wfl.dae"/>
        </geometry>
    </collision>  

    <visual>
        <origin rpy="0.0 0 0" xyz="0 0 0"/>
        <geometry>
            <mesh filename="package://ME10C_tpx4350_description/models/ME10C_tpx4350/meshes/wfl.dae"/>
        </geometry>
        <material name="grey"/>
    </visual>

</link>

<gazebo reference="wfl_link">
    <kp>100000.0</kp>
    <kd>100000.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="wfl_joint" type="revolute">
    <parent link="base_link"/>
    <child link="wfl_link"/>
    <origin xyz="0.38 -0.95 0.15" rpy="0 0 0"/>
    <limit lower="-0.2" upper="0.2" effort="0.1" velocity="0.005"/>
    <axis xyz="1 0 0"/>
</joint>

 <link name="wfr_link">
    <inertial>
        <origin xyz="0 0.0 0" rpy="0 0 0"/>            
        <mass value="30" />
        <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>

    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <mesh filename="package://ME10C_tpx4350_description/models/ME10C_tpx4350/meshes/wfr.dae"/>
        </geometry>
    </collision>  

    <visual>
        <origin rpy="0.0 0 0" xyz="0 0 0"/>
        <geometry>
            <mesh filename="package://ME10C_tpx4350_description/models/ME10C_tpx4350/meshes/wfr.dae"/>
        </geometry>
        <material name="grey"/>
    </visual>

</link>

<gazebo reference="wfl_link">
    <kp>100000.0</kp>
    <kd>100000.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="wfr_joint" type="revolute">
    <parent link="base_link"/>
    <child link="wfr_link"/>
    <origin xyz="-0.38 -0.95 0.15" rpy="0 0 0"/>
    <limit lower="-0.2" upper="0.2" effort="0.1" velocity="0.005"/>
    <axis xyz="1 0 0"/>
</joint>

```

---

<div class="post-metadata">

**Author:** ![duckfrost2](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/duckfrost2/32/9365_2.png) [@duckfrost2](https://get-help.theconstruct.ai/u/duckfrost2)\
**Post date:** [December 2, 2020, 8:39am UTC](https://get-help.theconstruct.ai/t/urdf-problem-with-gazebo/6624/2 "2020-12-02T08:39:36Z")

</div>

Hi,

I answere you to the same issue here: [ANSWER](https://get-help.robotigniteacademy.com/t/use-other-dae-3d-cad-from-blender/6560/2)