URDF在gazebo中显示问题

赤诚

网上找了一个urdf代码，通过launch文件在rviz中启动，模型是正常的，于是就尝试添加gazebo的颜色标签，通过launch文件将urdf代码加载进gazebo中进行显示。发现无法显示，卡了很久了，该launch文件没有问题，加载其余的可以在gazebo中正常显示。为什么只加了gazebo颜色标签却无法显示呢。下面是urdf代码部分

<?xml version="1.0" encoding="utf-8"?>
<robot name="mini_akm_robot">

</link>
<link name="base_link">
<inertial>
<origin
xyz="-0.0119754973846389 -0.000133372463647142 0.021017784029409" rpy="0 0 0" />
<mass
value="0.431538267108837" />
<inertia
ixx="0.00025452933099881"
ixy="1.90798049636859E-06"
ixz="-8.81627294628033E-07"
iyy="0.00037243817570695"
iyz="4.03071469874943E-07"
izz="0.000540327179164314" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/base_link.STL" />
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/base_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="base_link">
<material>Gazebo/White</material>
</gazebo>

<gazebo reference="lb_link">
<material>Gazebo/Black</material>
</gazebo>
<joint name="lb_joint"
type="continuous">
<origin xyz="-0.069657 0.07975 0.0162" rpy="0 0 0" />
<parent
link="base_link" />
<child
link="lb_link" />
<axis
xyz="0 -1 0" />
</joint>
<link name="rb_link">
<inertial>
<origin
xyz="-1.21641156911045E-07 0.000208202847118158 3.82869461863777E-08"
rpy="0 0 0" />
<mass
value="0.0456749740269158" />
<inertia
ixx="1.81808800640407E-05"
ixy="-1.76128053558607E-11"
ixz="-3.39346241698698E-12"
iyy="3.14403861845454E-05"
iyz="-1.33298144631598E-11"
izz="1.81803661907041E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rb_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rb_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="rb_link">
<material>Gazebo/Black</material>
</gazebo>

<joint name="left_joint"
type="revolute">
<origin
xyz="0.073593 0.051987 0.022"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="left_link" />
<axis
xyz="0 0 -1" />
<limit
lower="-0.39"
upper="0.39"
effort="0"
velocity="0" />
</joint>
<link name="lf_link">
<inertial>
<origin
xyz="-1.41585548674161E-07 1.91747322367264E-07 -4.64079716027549E-08"
rpy="0 0 0" />
<mass
value="0.0441313542614254" />
<inertia
ixx="1.8122375254286E-05"
ixy="1.01605691640891E-11"
ixz="3.10311319459123E-12"
iyy="3.14074902671165E-05"
iyz="-3.35423251171137E-13"
izz="1.81223732297953E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lf_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lf_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="lf_link">
<material>Gazebo/Black</material>
</gazebo>

<joint name="lf_joint"
type="continuous">
<origin
xyz="0 0.0301260014087184 -0.0109999999999987"
rpy="0 0 0" />
<parent
link="left_link" />
<child
link="lf_link" />
<axis
xyz="0 -1 0" />
</joint>
<link name="right_link">
<inertial>
<origin
xyz="-0.00429085795403265 -0.0111736943537972 -0.0109854152864204"
rpy="0 0 0" />
<mass
value="0.00476959923857933" />
<inertia
ixx="2.06909958805082E-07"
ixy="1.0497330410809E-07"
ixz="1.4992787833529E-09"
iyy="3.9334142732894E-07"
iyz="-5.98007566775091E-10"
izz="4.63369848741371E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/right_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/right_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="right_link">
<material>Gazebo/Black</material>
</gazebo>

<joint name="right_joint"
type="revolute">
<origin
xyz="0.0735933420063898 -0.0520125752742397 0.0219999999999997"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="right_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.39"
upper="0.39"
effort="0"
velocity="0" />
</joint>
<link name="rf_link">
<inertial>
<origin
xyz="-1.82018104019632E-07 -1.9296458401985E-07 -3.39361436400148E-08"
rpy="0 0 0" />
<mass
value="0.0441313541199343" />
<inertia
ixx="1.81223720754189E-05"
ixy="8.14282826550161E-12"
ixz="-2.30932816847721E-12"
iyy="3.14074908686231E-05"
iyz="-6.6892241788197E-12"
izz="1.81223769687268E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rf_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rf_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="rf_link">
<material>Gazebo/Black</material>
</gazebo>

</robot>