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    ROS2 humble spawn_entity[Err] [Visual.cc:2956] No mesh specified

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    ROS 2相关问题
    ros2 humble gazebo11
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    • 2849210182
      曲径通幽
      最后由 编辑

      我是ROS2的新手，近期在尝试将xacro文件导入gazebo中，urdf文件可以在Rviz中使用，但是导入gazebo的时候就不可以了，它会报如下错误

          [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wp/ros2_ws/install/manipulater/share/manipulater/__pycache__"
[gazebo-1] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wp/ros2_ws/install/manipulater/share/manipulater/hook"
[gazebo-1] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wp/ros2_ws/install/manipulater/share/manipulater/meshes"
[gazebo-1] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wp/ros2_ws/install/manipulater/share/manipulater/rviz"
[gazebo-1] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/wp/ros2_ws/install/manipulater/share/manipulater/urdf"
[gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gazebo-1] [Wrn] [FuelModelDatabase.

cc:313] URI not supported by Fuel [$(find manipulater)/meshes/visual/con_1.STL]
    [gazebo-1] [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [$(find manipulater)/meshes/visual/con_1.STL]
    [gazebo-1] [Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [file://$(find manipulater)/meshes/visual/con_1.STL]
    [gazebo-1] [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [file://$(find manipulater)/meshes/visual/con_1.STL]
    [gazebo-1] [Err] [Visual.cc:2956] No 
    
        mesh specified
        [gazebo-1] [Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [$(find manipulater)/meshes/visual/con_1.STL]
        [gazebo-1] [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [$(find manipulater)/meshes/visual/con_1.STL]
        [gazebo-1] [Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [file://$(find manipulater)/meshes/visual/con_1.STL]
        [gazebo-1] [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [file://$(find manipulater)/meshes/visual/con_1.STL]
        [gazebo-1] [Err] [Visual.cc:2956] No mesh specified

      我尝试了export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/wp/ros2_ws/install/manipulater/share/manipulater
      但是不起作用，我也将xacro文件中mesh中的filename="package://manipulater/meshes/visual/base_link.STL" 变成 filename="file://$(find manipulater)/meshes/visual/base_link.STL"，但是也不起作用
      我不知道问题出在哪里，感谢帮助我的人
      我使用 ROS2 humbe,Ubuntu 22.04.2 ，VM16 pro

      my directory tree

      .
├── launch
│   ├── display_launch.py
│   ├── gazebo1.launch.py
│   └── gazebo2.launch.py
├── manipulater
│   └── __init__.py
├── meshes
│   ├── collision
│   │   ├── base_link.STL
│   │   ├── con_1.STL
│   │   ├── con_2.STL
│   │   ├── con_3.STL
│   │   ├── con_4.STL
│   │   ├── con_5.STL
│   │   ├── con_6.STL
│   │   ├── con_7.STL
│   │   ├── con_8.STL
│   │   ├── link_1.STL
│   │   ├── link_2.STL
│   │   ├── link_3.STL
│   │   ├── link_4.STL
│   │   ├── link_5.STL
│   │   ├── link_6.STL
│   │   ├── link_7.STL
│   │   └── link_8.STL
│   └── visual
│       ├── base_link.STL
│       ├── con_1.STL
│       ├── con_2.STL
│       ├── con_3.STL
│       ├── con_4.STL
│       ├── con_5.STL
│       ├── con_6.STL
│       ├── con_7.STL
│       ├── con_8.STL
│       ├── link_1.STL
│       ├── link_2.STL
│       ├── link_3.STL
│       ├── link_4.STL
│       ├── link_5.STL
│       ├── link_6.STL
│       ├── link_7.STL
│       └── link_8.STL
├── package.xml
├── resource
│   └── manipulater
├── rviz
│   └── view.rviz
├── scripts
│   ├── 00_dofbot_move.py
│   ├── 01_set_move.py
│   ├── 02_motion_plan.py
│   ├── 03_attached_object.py
│   ├── 04_Set_Scene.py
│   └── __init__.py
├── setup.cfg
├── setup.py
└── urdf
    ├── manipulater.gv
    ├── manipulater.pdf
    ├── sd_mani_test.urdf
    ├── sd_mani.urdf
    └── sd_mani.xacro

9 directories, 54 files

      my xacro file

       <?xml version="1.0"?>
    <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot  name="manipulater" xmlns:xacro="http://ros.org/wiki/xacro">
  <link
    name="base_link">
    <inertial><!--旋转惯量矩阵是用于描述物体的惯性的，在做动力学仿真的时候，这些参数尤为重要-->
      <origin
        xyz="-0.40335 -4.5727E-09 -0.022176"
        rpy="1.5708 0 0" />
      <mass 
        value="50" /><!--描述link的质量-->
       <inertia
        ixx="2.7711"
        ixy="5.2286E-07"
        ixz="-0.013648"
        iyy="3.0095"
        iyz="1.0857E-09"
        izz="3.0504" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="1.5708 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision><!--我们可以可以在link标签下添加collison子标签来对物体的形状进行描述-->
      <origin  
        xyz="0 0 0"
        rpy="1.5708 0 0" /><!--表示碰撞体的中心位姿-->
      <geometry><!--用于表示用于碰撞检测的几何形状-->
        <mesh
          filename="file://$(find manipulater)/meshes/visual/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="con_1">
    <inertial>
      <origin
        xyz="-4.147E-11 1.5501E-08 -1.3172E-07"
        rpy="0 0 0" />
      <mass
        value="0.011" />
      <inertia
        ixx="8.5802E-07"
        ixy="4.006E-13"
        ixz="3.9983E-13"
        iyy="5.0984E-07"
        iyz="-8.0439E-19"
        izz="5.0984E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_1"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="con_1" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="link_1">
    <inertial>
      <origin
        xyz="-0.40335 4.5727E-09 0.022176"
        rpy="0 0 0" />
      <mass
        value="0.0865" />
      <inertia
        ixx="2.7711"
        ixy="-5.2286E-07"
        ixz="0.013648"
        iyy="3.0095"
        iyz="1.0857E-09"
        izz="3.0504" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_2"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="con_1" />
    <child
      link="link_1" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="con_2">
    <inertial>
      <origin
        xyz="-4.1467E-11 -1.2546E-08 -1.5501E-08"
        rpy="0 0 0" />
      <mass
        value="0.011" />
      <inertia
        ixx="8.5802E-07"
        ixy="3.9983E-13"
        ixz="-4.006E-13"
        iyy="5.0984E-07"
        iyz="8.0461E-19"
        izz="5.0984E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_3"
    type="revolute">
    <origin
      xyz="0.1285 0 0"
      rpy="0 0 0" />
    <parent
      link="link_1" />
    <child
      link="con_2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="link_2">
    <inertial>
      <origin
        xyz="-0.53185 -0.022176 1.2375E-07"
        rpy="0 0 0" />
      <mass
        value="0.0865" />
      <inertia
        ixx="2.7711"
        ixy="-0.013648"
        ixz="-5.2286E-07"
        iyy="3.0504"
        iyz="-1.0857E-09"
        izz="3.0095" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_4"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 0" />
    <parent
      link="con_2" />
    <child
      link="link_2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="con_3">
    <inertial>
      <origin
        xyz="-4.1467E-11 1.5501E-08 -1.2546E-08"
        rpy="0 0 0" />
      <mass
        value="0.011" />
      <inertia
        ixx="8.5802E-07"
        ixy="4.006E-13"
        ixz="3.9983E-13"
        iyy="5.0984E-07"
        iyz="-8.0481E-19"
        izz="5.0984E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_5"
    type="revolute">
    <origin
      xyz="0.1285 0 0"
      rpy="0 0 0" />
    <parent
      link="link_2" />
    <child
      link="con_3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="link_3">
    <inertial>
      <origin
        xyz="-0.66035 1.2375E-07 0.022176"
        rpy="0 0 0" />
      <mass
        value="0.0865" />
      <inertia
        ixx="2.7711"
        ixy="-5.2286E-07"
        ixz="0.013648"
        iyy="3.0095"
        iyz="1.0857E-09"
        izz="3.0504" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_6"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="con_3" />
    <child
      link="link_3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="con_4">
    <inertial>
      <origin
        xyz="-4.1467E-11 -1.2546E-08 -1.5501E-08"
        rpy="0 0 0" />
      <mass
        value="0.011" />
      <inertia
        ixx="8.5802E-07"
        ixy="3.9983E-13"
        ixz="-4.006E-13"
        iyy="5.0984E-07"
        iyz="8.0388E-19"
        izz="5.0984E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_7"
    type="revolute">
    <origin
      xyz="0.1285 0 0"
      rpy="0 0 0" />
    <parent
      link="link_3" />
    <child
      link="con_4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="link_4">
    <inertial>
      <origin
        xyz="-0.78885 -0.022176 1.2375E-07"
        rpy="0 0 0" />
      <mass
        value="0.0865" />
      <inertia
        ixx="2.7711"
        ixy="-0.013648"
        ixz="-5.2286E-07"
        iyy="3.0504"
        iyz="-1.0857E-09"
        izz="3.0095" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_8"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 0" />
    <parent
      link="con_4" />
    <child
      link="link_4" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="con_5">
    <inertial>
      <origin
        xyz="-4.1467E-11 1.5501E-08 -1.2546E-08"
        rpy="0 0 0" />
      <mass
        value="0.011" />
      <inertia
        ixx="8.5802E-07"
        ixy="4.006E-13"
        ixz="3.9983E-13"
        iyy="5.0984E-07"
        iyz="-8.0406E-19"
        izz="5.0984E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_9"
    type="revolute">
    <origin
      xyz="0.1285 0 0"
      rpy="0 0 0" />
    <parent
      link="link_4" />
    <child
      link="con_5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="link_5">
    <inertial>
      <origin
        xyz="-0.91735 1.2375E-07 0.022176"
        rpy="0 0 0" />
      <mass
        value="0.0865" />
      <inertia
        ixx="2.7711"
        ixy="-5.2286E-07"
        ixz="0.013648"
        iyy="3.0095"
        iyz="1.0857E-09"
        izz="3.0504" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_10"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5707963267949 0 0" />
    <parent
      link="con_5" />
    <child
      link="link_5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="con_6">
    <inertial>
      <origin
        xyz="-4.1467E-11 -1.2546E-08 -1.5501E-08"
        rpy="0 0 0" />
      <mass
        value="0.011" />
      <inertia
        ixx="8.5802E-07"
        ixy="3.9983E-13"
        ixz="-4.006E-13"
        iyy="5.0984E-07"
        iyz="8.0462E-19"
        izz="5.0984E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_11"
    type="revolute">
    <origin
      xyz="0.1285 0 0"
      rpy="0 0 0" />
    <parent
      link="link_5" />
    <child
      link="con_6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="link_6">
    <inertial>
      <origin
        xyz="-1.0458 -0.022176 1.2375E-07"
        rpy="0 0 0" />
      <mass
        value="0.0865" />
      <inertia
        ixx="2.7711"
        ixy="-0.013648"
        ixz="-5.2286E-07"
        iyy="3.0504"
        iyz="-1.0857E-09"
        izz="3.0095" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_12"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5707963267949 0 0" />
    <parent
      link="con_6" />
    <child
      link="link_6" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="con_7">
    <inertial>
      <origin
        xyz="-4.1467E-11 1.5501E-08 -1.2546E-08"
        rpy="0 0 0" />
      <mass
        value="0.011" />
      <inertia
        ixx="8.5802E-07"
        ixy="4.006E-13"
        ixz="3.9983E-13"
        iyy="5.0984E-07"
        iyz="-8.0383E-19"
        izz="5.0984E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_7.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_7.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_13"
    type="revolute">
    <origin
      xyz="0.1285 0 0"
      rpy="0 0 0" />
    <parent
      link="link_6" />
    <child
      link="con_7" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="link_7">
    <inertial>
      <origin
        xyz="-1.1743 1.2375E-07 0.022
176"
        rpy="0 0 0" />
      <mass
        value="0.0865" />
      <inertia
        ixx="2.7711"
        ixy="-5.2286E-07"
        ixz="0.013648"
        iyy="3.0095"
        iyz="1.0857E-09"
        izz="3.0504" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_7.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_7.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_14"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="con_7" />
    <child
      link="link_7" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="con_8">
    <inertial>
      <origin
        xyz="-4.1467E-11 -1.2546E-08 -1.5501E-08"
        rpy="0 0 0" />
      <mass
        value="0.011" />
      <inertia
        ixx="8.5802E-07"
        ixy="3.9983E-13"
        ixz="-4.006E-13"
        iyy="5.0984E-07"
        iyz="8.0342E-19"
        izz="5.0984E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_8.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/con_8.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_15"
    type="revolute">
    <origin
      xyz="0.1285 0 0"
      rpy="0 0 0" />
    <parent
      link="link_7" />
    <child
      link="con_8" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
  <link
    name="link_8">
    <inertial>
      <origin
        xyz="-1.3028 -0.022176 1.2375E-07"
        rpy="0 0 0" />
      <mass
        value="0.0865" />
      <inertia
        ixx="2.7711"
        ixy="-0.013648"
        ixz="-5.2286E-07"
        iyy="3.0504"
        iyz="-1.0857E-09"
        izz="3.0095" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_8.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://$(find manipulater)/meshes/visual/link_8.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_16"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5707963267949 0 0" />
    <parent
      link="con_8" />
    <child
      link="link_8" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.5236"
      upper="0.5236"
      effort="2.0"
      velocity="0.5" />
  </joint>
</robot>

      my launch file

      import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    robot_name_in_model = 'manipulater'
    package_name = 'manipulater'
    urdf_name = "sd_mani.xacro"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    # Start Gazebo servers
    start_gazebo_cmd =  ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
        output='screen')

    # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)


    return ld
      1 条回复 最后回复 回复 引用 0
      • H
        hitcxy2022
        最后由 编辑

        我遇到了一模一样的问题，兄弟后来解决了吗

        H 1 条回复 最后回复 回复 引用 0
        • H
          hitcxy2022 @hitcxy2022
          最后由 编辑

          @hitcxy2022 解决了，需要在package.xml文件的<export>标签中加入一行代码
          <gazebo_ros gazebo_model_path="${prefix}/.."/>
          作用为：通过该行语句可以修改ROS2的markerfile从而使得urdf文件中的package://能够正确解析到install/packagename/share中

          1 条回复 最后回复 回复 引用 0
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