Issue #30: Fix URDF

[AksonovSergei]

No description provided.

[Copilot]

Pull Request Overview

This pull request is intended to address Issue #30 by updating and correcting various aspects of the robot’s URDF description. Key changes include:

• Adjusted base and wheel properties, visual meshes, and joint specifications in the robot_core.xacro.
• Removed unused xacro includes in robot.urdf.xacro and replaced the lidar Collada mesh with an STL.
• Updated material definitions and modified the parent link and origin settings for the lidar and IMU.

Reviewed Changes

Copilot reviewed 9 out of 9 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
description/robot_core.xacro	Revised dimensions, mass calculations, visual meshes, and joint type adjustments.
description/robot.urdf.xacro	Removed camera and water_tank includes to streamline the URDF.
description/meshes/lidar.dae	Removed outdated Collada file as the lidar mesh is now provided in STL format.
description/materials.xacro	Added a new yellow material.
description/lidar.xacro	Updated the joint’s parent link and origin, and switched to an STL mesh for the lidar.
description/imu.xacro	Updated the IMU origin to reflect the corrected sensor placement.

Comments suppressed due to low confidence (3)

description/robot_core.xacro:86

• Changing the wheel joint type from 'continuous' to 'fixed' disables rotational actuation. Confirm that this change is intended for the robot's design.

<joint name="${prefix}_joint" type="fixed">

description/lidar.xacro:5

• The parent link for the laser_joint was changed from 'water_tank_link' to 'base_link'. Verify that this update correctly reflects the intended physical connection in the robot.

<parent link="base_link"/>

description/imu.xacro:6

• The IMU origin was shifted from '0.0 0 0.068' to '-0.036 0.039 0.015'. Please ensure that these new offsets accurately represent the sensor's physical placement.

<origin xyz="-0.036 0.039 0.015" rpy="0 0 0"/>

[ChVictoria]

I have errors related to ros2 control:

[ros2-7] Traceback (most recent call last):
[ros2-7]   File "/opt/ros/jazzy/bin/ros2", line 33, in <module>
[ros2-7]     sys.exit(load_entry_point('ros2cli==0.32.2', 'console_scripts', 'ros2')())
[ros2-7]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-7]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2cli/cli.py", line 91, in main
[ros2-7]     rc = extension.main(parser=parser, args=args)
[ros2-7]          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-7]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2controlcli/command/control.py", line 37, in main
[ros2-7]     return extension.main(args=args)
[ros2-7]            ^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-7]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2controlcli/verb/load_controller.py", line 56, in main
[ros2-7]     controllers = list_controllers(node, args.controller_manager, 20.0).controller
[ros2-7]                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-7]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 172, in list_controllers
[ros2-7]     return service_caller(
[ros2-7]            ^^^^^^^^^^^^^^^
[ros2-7]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 132, in service_caller
[ros2-7]     raise ServiceNotFoundError(
[ros2-7] controller_manager.controller_manager_services.ServiceNotFoundError: Could not contact service /controller_manager/list_controllers
[ERROR] [ros2-7]: process has died [pid 20043, exit code 1, cmd 'ros2 control load_controller --set-state active diff_drive_controller'].
[ros2-6] Traceback (most recent call last):
[ros2-6]   File "/opt/ros/jazzy/bin/ros2", line 33, in <module>
[ros2-6]     sys.exit(load_entry_point('ros2cli==0.32.2', 'console_scripts', 'ros2')())
[ros2-6]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-6]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2cli/cli.py", line 91, in main
[ros2-6]     rc = extension.main(parser=parser, args=args)
[ros2-6]          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-6]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2controlcli/command/control.py", line 37, in main
[ros2-6]     return extension.main(args=args)
[ros2-6]            ^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-6]   File "/opt/ros/jazzy/lib/python3.12/site-packages/ros2controlcli/verb/load_controller.py", line 56, in main
[ros2-6]     controllers = list_controllers(node, args.controller_manager, 20.0).controller
[ros2-6]                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[ros2-6]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 172, in list_controllers
[ros2-6]     return service_caller(
[ros2-6]            ^^^^^^^^^^^^^^^
[ros2-6]   File "/opt/ros/jazzy/lib/python3.12/site-packages/controller_manager/controller_manager_services.py", line 132, in service_caller
[ros2-6]     raise ServiceNotFoundError(
[ros2-6] controller_manager.controller_manager_services.ServiceNotFoundError: Could not contact service /controller_manager/list_controllers
[ERROR] [ros2-6]: process has died [pid 20042, exit code 1, cmd 'ros2 control load_controller --set-state active joint_state_broadcaster'].

[ChVictoria]

And also gazebo cannot find meshes:

[gazebo-1] [Wrn] [ColladaLoader.cc:2395] Triangle input semantic: 'COLOR' is currently not supported
[gazebo-1] [Err] [SystemPaths.cc:425] Unable to find file with URI [model://kpi_rover/description/meshes/kpi_rover_body.stl]
[gazebo-1] [Err] [SystemPaths.cc:525] Could not resolve file [model://kpi_rover/description/meshes/kpi_rover_body.stl]
[gazebo-1] [Err] [MeshManager.cc:211] Unable to find file[model://kpi_rover/description/meshes/kpi_rover_body.stl]
[gazebo-1] [Wrn] [Util.cc:859] Failed to load mesh from [model://kpi_rover/description/meshes/kpi_rover_body.stl].
[gazebo-1] [Err] [SystemPaths.cc:425] Unable to find file with URI [model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Err] [SystemPaths.cc:525] Could not resolve file [model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Err] [MeshManager.cc:211] Unable to find file[model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Wrn] [Util.cc:859] Failed to load mesh from [model://kpi_rover/description/meshes/wheel.stl].
[gazebo-1] [Err] [SystemPaths.cc:425] Unable to find file with URI [model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Err] [SystemPaths.cc:525] Could not resolve file [model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Err] [MeshManager.cc:211] Unable to find file[model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Wrn] [Util.cc:859] Failed to load mesh from [model://kpi_rover/description/meshes/wheel.stl].
[gazebo-1] [Err] [SystemPaths.cc:425] Unable to find file with URI [model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Err] [SystemPaths.cc:525] Could not resolve file [model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Err] [MeshManager.cc:211] Unable to find file[model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Wrn] [Util.cc:859] Failed to load mesh from [model://kpi_rover/description/meshes/wheel.stl].
[gazebo-1] [Err] [SystemPaths.cc:425] Unable to find file with URI [model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Err] [SystemPaths.cc:525] Could not resolve file [model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Err] [MeshManager.cc:211] Unable to find file[model://kpi_rover/description/meshes/wheel.stl]
[gazebo-1] [Wrn] [Util.cc:859] Failed to load mesh from [model://kpi_rover/description/meshes/wheel.stl].

[AksonovSergei]

@ChVictoria
How to reproduce this issue?

[ChVictoria]

I run it in the simulation without using Docker:

cd ros_ws
colcon build
source install/setup.bash
ros2 launch kpi_rover launch_sim.launch.py