使用moveit导入urdf后生成的机械臂在gazebo内底座不是固定于地面的

luoxihao2001

开发环境：ubuntu20.04 noetic Gazebo multi-robot simulator, version 11.11.0

现存问题是:使用moveit生成的demo_gazebo.launch文件时rivz内机械臂一切正常，可以正常使用moveit功能，gazebo内的机械臂同样可以跟随rviz内机械臂的运动，但gazebo内的机械臂的rootlink没有固定在地面，机械臂运动时会在地面上来回翻滚。
尝试过额外添加虚拟link。

    <link name="worldbase"></link>
  <joint name="base_to_wrold" type="revolute">
        <parent link="worldbase"/> <!-- Connect link1 to base_virtual instead of base -->
        <child link="base"/>
        <!-- Existing joint content -->
    </joint>

尝试过添加static

    <gazebo reference="base">
        <static>true</static>
    </gazebo>

原本的urdf文件内不存在转动惯量以及gazebo的transmission标签部分的内容，这些内容都是依靠moveit进行生成的。包括现有再用的所有配置文件以及launch文件都是依靠moveit生成的。
以下是当前正在使用的urdf文件：

<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
    <xacro:property name="width" value=".2" />
    <link name="base">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04  1.5708 3.14159-->
                <mesh filename="package://display/urdf/mycobot/base.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 0 0" />
        </visual>
        <collision>
            <geometry>
                <!--- 0.0 0 -0.04  1.5708 3.14159-->
                <mesh filename="package://display/urdf/mycobot/base.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 0 0" />
        </collision>
        <inertial>
            <mass value="1000000" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link1">
        <visual>
            <geometry>
                <mesh filename="package://display/urdf/mycobot/link1.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy="0 0 3.1415926" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://display/urdf/mycobot/link1.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 0 3.1415926" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link2">
        <visual>
            <geometry>
                <mesh filename="package://display/urdf/mycobot/link2.dae" />
            </geometry>
            <origin xyz="0 0 -0.080 " rpy=" 3.1415926 0 3.1415926" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://display/urdf/mycobot/link2.dae" />
            </geometry>
            <origin xyz="0 0 -0.080 " rpy=" 3.1415926 0 3.1415926" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link3">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://display/urdf/mycobot/link3.dae" />
            </geometry>
            <origin xyz="0 0 -0.0855 " rpy=" 3.1415926 0 3.1415926" />
        </visual>
        <collision>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://display/urdf/mycobot/link3.dae" />
            </geometry>
            <origin xyz="0 0 -0.0855 " rpy="3.1415926 0 3.1415926" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link4">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://display/urdf/mycobot/link4.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 3.1415926 0" />
        </visual>
        <collision>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://display/urdf/mycobot/link4.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 3.1415926 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link5">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://display/urdf/mycobot/link5.dae" />
            </geometry>
            <origin xyz="0 0  0 " rpy=" 0  0 1.5707" />
        </visual>
        <collision>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://display/urdf/mycobot/link5.dae" />
            </geometry>
            <origin xyz="0 0  0 " rpy=" 0  0 1.5707" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="link6">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://display/urdf/mycobot/link6.dae" />
            </geometry>
            <material name="grey">
                <color rgba="0.5 0.5 0.5 1" />
            </material>
            <origin xyz="0.03 0 0" rpy=" 0 -1.5707  0" />
        </visual>
        <collision>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://display/urdf/mycobot/link6.dae" />
            </geometry>
            <material name="grey">
                <color rgba="0.5 0.5 0.5 1" />
            </material>
            <origin xyz="0.03 0 0" rpy=" 0 -1.5707  0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <joint name="joint2_to_joint1" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
        <parent link="base" />
        <child link="link1" />
        <origin xyz="0 0 0.19934" rpy="0 0 0" />
    </joint>
    <joint name="joint3_to_joint2" type="revolute">
        <axis xyz="0 0 -1" />
        <limit effort="1000.0" lower="-4.71" upper="1.5708" velocity="0" />
        <!-- <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> -->
        <parent link="link1" />
        <child link="link2" />
        <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
        <origin xyz="0 0  0" rpy="1.5708 0 0" />
    </joint>
    <joint name="joint4_to_joint3" type="revolute">
        <axis xyz=" 0 0 -1" />
        <limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
        <parent link="link2" />
        <child link="link3" />
        <origin xyz="0.25 0 0   " rpy="0 0 0" />
    </joint>
    <joint name="joint5_to_joint4" type="revolute">
        <axis xyz=" 0 0 -1" />
        <limit effort="1000.0" lower="-4.53" upper="1.3962" velocity="0" />
        <!-- <limit effort = "1000.0" lower = "-2.96" upper = "2.97" velocity = "0"/> -->
        <parent link="link3" />
        <child link="link4" />
        <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
        <origin xyz="0.25 0  -0.1091" rpy="0 0 0" />
    </joint>
    <joint name="joint6_to_joint5" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
        <parent link="link4" />
        <child link="link5" />
        <origin xyz="0 -0.108 0" rpy="1.57080 -1.57080 0" />
    </joint>
    <joint name="joint6output_to_joint6" type="revolute">
        <axis xyz="-1 0 0" />
        <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
        <parent link="link5" />
        <child link="link6" />
        <origin xyz="-0.07586 0 0" rpy="-1.57080 0 0 " />
    </joint>
    
    <transmission name="trans_joint2_to_joint1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint2_to_joint1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint2_to_joint1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint3_to_joint2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint3_to_joint2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint3_to_joint2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint4_to_joint3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint4_to_joint3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint4_to_joint3_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint5_to_joint4">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint5_to_joint4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint5_to_joint4_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6_to_joint5">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6_to_joint5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6_to_joint5_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6output_to_joint6">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6output_to_joint6">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6output_to_joint6_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>/</robotNamespace>
        </plugin>
    </gazebo>
</robot>

luoxihao2001

@luoxihao2001 在使用moveit导入urdf后生成的机械臂在gazebo内底座不是固定于地面的中说：

<link name="worldbase"></link>
<joint name="base_to_wrold" type="revolute">
<parent link="worldbase"/> 
<child link="base"/>

</joint>

这里写错了，我这里的joint tpye是fixed