I am following a tutorial to build a custom robot in Ros. I followed in detail this tutorial: https://www.youtube.com/watch?v=uvPFDQxfm2w&t=70s I am trying to make my robot called "mrm" spawn in gazebo. When I launch this spawn.launch file:
<?xml version="1.0" ?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mrm_description)/urdf/mrm.xacro'"/>
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="0.5"/>
<node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
args="-param robot_description -urdf -model mrm -x $(arg x) -y $(arg y) -z $(arg z)"/>
</launch>
No error messages are appearing but everything is stuck: the robot doesn't appear and Gazebo is not open. I can only see this message in the terminal:
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: noetic
* /rosversion: 1.15.15
NODES
/
mybot_spawn (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [35299]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to e34362f0-8a2f-11ed-a9b7-ef7c5e0a5b08
process[rosout-1]: started with pid [35309]
started core service [/rosout]
process[mybot_spawn-2]: started with pid [35312]
[INFO] [1672617380.741138]: Loading model XML from ros parameter robot_description
[INFO] [1672617380.745654]: Waiting for service /gazebo/spawn_urdf_model
It appears it is searching for the model of the robot as reported by: https://answers.ros.org/question/383910/generic-question-about-the-error-waiting-for-service-gazebospawn_urdf_model/
I found an old similar question: Error: gazebo_ros_control plugin is waiting for model URDF in parameter But I do not think it fits my case.
I tried to create a new simplified model and launched it in a different workspace where I am already working with Franka model in gazebo but when I launch my custom robot the same issue appears.
If someone has some hints about how to solve this problem I would be very grateful.
Lorenzo
