[ros-users] Only the fixed link shows up in gazebo (cturtle)

Yeon Grace Lee yeongrace.lee at gmail.com
Tue Jul 20 22:43:27 UTC 2010

Hi All,

I am trying to spawn my person_urdf in gazebo but instead of the entire
human model, only one of the links is showing up. It seems that the other
links were not spawned (they are neither in the sky nor the ground). Lower
torso, which is the link that shows up in gazebo, is neither the fixed link
nor the root link. Attached is the urdf file that i am spawning in gazebo.

Also, guessing from the previous urdf files in our USC repository, is it
necessary to have a "world" joint whose parent is world and child is the
root link? I wasn't sure if this was something I should take into
consideration while working with urdf/gazebo in cturtle.

My last question is, in order to manipulate several joints at once (i.e.
shoulder moves while hip rotates, etc), is it necessary to divide up the
link which is currently in one urdf file into separate urdf files as your
PR2 model has done?

Thank you in advance,

Grace L.

p.s. below is the snapshot of the terminal for spawning the urdf model in

yglee at yglee-laptop:~/cturtle_usc/stacks/interaction-ros-pkg/sandbox/person_urdf2$
roslaunch person_urdf2 person_gazebo.launch
... logging to
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yglee-laptop:51427/


 * /use_sim_time
 * /robot_description

    gazebo (gazebo/gazebo)
    human (gazebo_tools/gazebo_model)


core service [/rosout] found
process[gazebo-1]: started with pid [8850]
process[human-2]: started with pid [8851]
Gazebo multi-robot simulator, version 0.10.0

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

directory [/tmp/gazebo-yglee-0] already exists (previous crash?)
but the owner gazebo server (pid=8743) is not running.
deleting the old information of the directory [/tmp/gazebo-yglee-0]
Gazebo successfully initialized
[human-2] process has finished cleanly.
log file:
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