How to use go1.urdf to simulate input topics #8
Description
Hi. I was trying to test this algorithm, but I can't have any source. I thought I can use the go1.urdf to do this in gazebo11, but I wasn't able to spawn the model.
root@a41bb57318f9:~/muse_ws/muse_ws# rosrun gazebo_ros spawn_model -urdf -file /root/muse_ws/muse_ws/src/state_estimator/urdfs/go1.urdf -model go1 -x 0 -y 0 -z 0.30 -Y 0.0
[INFO] [1760673163.622594, 0.000000]: Loading model XML from file /root/muse_ws/muse_ws/src/state_estimator/urdfs/go1.urdf
[INFO] [1760673163.639497, 396.228000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1760673163.651219, 396.240000]: Calling service /gazebo/spawn_urdf_model
Service call failed: service [/gazebo/spawn_urdf_model] responded with an error: b''
[ERROR] [1760673163.706577, 396.286000]: Spawn service failed. Exiting.I test with a minimal spawn a it's seems like there is something is missing in my workspace
root@a41bb57318f9:~/muse_ws/muse_ws# cat > /tmp/minibox.urdf <<'URDF'
> <?xml version="1.0"?>
> <robot name="minibox">
> <link name="base">
> <visual><geometry><box size="0.2 0.2 0.2"/></geometry></visual>
> <collision><geometry><box size="0.2 0.2 0.2"/></geometry></collision>
tial><mass value="1"/><inertia ixx="0.01" iyy="0.0> <inertial><mass value="1"/><inertia ixx="0.01" iyy="0.01" izz="0.01" ixy="0" ixz="0" iyz="0"/></inertial>
> </link>
> </robot>
> URDF
root@a41bb57318f9:~/muse_ws/muse_ws# rosrun gazebo_ros spawn_model -urdf -file /tmp/minibox.urdf -model minibox -z 0.3
[INFO] [1760673209.955927, 0.000000]: Loading model XML from file /tmp/minibox.urdf
[INFO] [1760673209.959617, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1760673209.976148, 441.732000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1760673210.246939, 441.909000]: Spawn status: SpawnModel: Successfully spawned entity
root@a41bb57318f9:~/muse_ws/muse_ws# 
If you can help me, I would like to work with you to make a PR for ROS2.