It looks like you have a non-zero <rpy> in inertia's origin tag.  We don't currently support rotated inertia frames at this time.  The second error is most likely due to shadows, for now you can turn off shadow rendering by adding a <shadows> tag in the world file:<br>

<br>  <rendering:ogre><br>    <ambient>0.5 0.5 0.5 0.5</ambient><br>    <sky><br>      <material>Gazebo/CloudySky</material><br>    </sky><br>    <grid>false</grid><br>

    <maxUpdateRate>10.</maxUpdateRate><br>    <shadowTechnique>none</shadowTechnique><br><b>    <shadows>false</shadows></b><br>  </rendering:ogre><br><br>This should fix it for now, I've ticketed it here:<br>

<a href="https://code.ros.org/trac/ros-pkg/ticket/4241">https://code.ros.org/trac/ros-pkg/ticket/4241</a><br><br>thanks,<br><br>John<br><br><div class="gmail_quote">On Fri, Jul 9, 2010 at 3:55 AM, Nicolas Goossaert <span dir="ltr"><<a href="mailto:nicolas@shadowrobot.com">nicolas@shadowrobot.com</a>></span> wrote:<br>

<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">





<div text="#000000" bgcolor="#ffffff">
Hi everyone, <br>
<br>
I am currently trying to use my URDF model and the <gazebo> tags
to get a real simulation of my robot in Gazebo, and not just an Rviz 3D
picture.<br>
<br>
The problem is: when I spawn my model, I get the following error: <br>
<br>
<i>[ERROR] [113.806000000]: rotation of inertial frame is not supported<br>
                                                                                                       
<br>
[ERROR] [114.168000000]: rotation of inertial frame is not supported<br>
                                                                                                       
<br>
[ERROR] [114.168000000]: rotation of inertial frame is not supported<br>
                                                                                                       
<br>
[ERROR] [114.168000000]: rotation of inertial frame is not supported<br>
                                                                                                       
<br>
gazebo:
/home/hand/rosunstable/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreShadowCaster.cpp:348:
virtual void Ogre::ShadowCaster::generateShadowVolume(Ogre::EdgeData*,
const Ogre::HardwareIndexBufferSharedPtr&, const Ogre::Light*,
std::vector<Ogre::ShadowRenderable*,
Ogre::STLAllocator<Ogre::ShadowRenderable*,
Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0u> >
>&, long unsigned int): Assertion `numIndices <=
indexBuffer->getNumIndexes() && "Index buffer overrun while
generating shadow volume!! " "You must increase the size of the shadow
index buffer."' failed.<br>
[gazebo-2] process has died [pid 5041, exit code -6].</i><br>
<br>
I cannot see where the problem comes from. Could someone help me ?<br>
<br>
Cheers, <br>
<br>
Nicolas<br>
</div>

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<br></blockquote></div><br>