hello, I have some problems.
Model is not displayed after importing URDF file, terminal error message: sh: 1: rospack: not found
Software window prompts:
[simExtURDF:info] rospack find elite_description
[simExtURDF:error] rospack failed: Command 'rospack find elite_description' exited with status 127.
I used CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu22_04 and ros2-humble.
Model is not displayed after importing URDF file
Re: Model is not displayed after importing URDF file
Does your URDF file contain entries with
What is the output of
(make sure the ROS environment is sourced before running above command, and before starting CoppeliaSim in a terminal)
$(rospack find elite_description)?What is the output of
rospack find elite_description in a terminal?(make sure the ROS environment is sourced before running above command, and before starting CoppeliaSim in a terminal)
Re: Model is not displayed after importing URDF file
Hello, this is my URDF file
Terminal display:
sh: 1: rospack: not found
sh: 1: rospack: not found
sh: 1: rospack: not found
sh: 1: rospack: not found
sh: 1: rospack: not found
sh: 1: rospack: not found
The status bar at the bottom of the software displays：
Code: Select all
<robot
name="frr16">
<link
name="base_link">
<inertial>
<origin
xyz="-0.00017171 -0.00016075 0.041272"
rpy="0 0 0" />
<mass
value="1.6231" />
<inertia
ixx="0.0039513"
ixy="1.1032E-05"
ixz="-1.0078E-05"
iyy="0.0039509"
iyz="-9.408E-06"
izz="0.0063729" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="2.9083E-07 -0.0078554 0.17353"
rpy="0 0 0" />
<mass
value="3.6493" />
<inertia
ixx="0.016105"
ixy="-7.457E-08"
ixz="-8.9981E-08"
iyy="0.015128"
iyz="0.00018171"
izz="0.01184" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="link1" />
<axis
xyz="0 0 1" />
<limit
lower="-3.052"
upper="3.052"
effort="0"
velocity="0" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="-0.208450295409301 -1.04141929052615E-06 0.182446410516953"
rpy="0 0 0" />
<mass
value="9.46217032684362" />
<inertia
ixx="0.0259206341383288"
ixy="2.52216786221599E-07"
ixz="0.0025747972012175"
iyy="0.379024564512205"
iyz="1.07956448273394E-07"
izz="0.374390438612304" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0.18"
rpy="1.5708 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="0 0 1" />
<limit
lower="-4.622"
upper="1.482"
effort="0"
velocity="0" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="-0.233917677074643 1.15364811115182E-06 0.0482876842029215"
rpy="0 0 0" />
<mass
value="2.98750118422874" />
<inertia
ixx="0.00387746822389482"
ixy="2.61336049630588E-07"
ixz="-0.00130179285621401"
iyy="0.0545671930037123"
iyz="-5.38789828945949E-08"
izz="0.0540019357298666" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="-0.52 0 0"
rpy="0 0 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 0 1" />
<limit
lower="-2.791"
upper="2.791"
effort="0"
velocity="0" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="1.80050656384267E-07 -0.00259701172777185 0.154900769343231"
rpy="0 0 0" />
<mass
value="2.15725431222332" />
<inertia
ixx="0.00330856373367053"
ixy="1.54458983801606E-08"
ixz="6.12273587924312E-08"
iyy="0.00249325154735706"
iyz="3.92564460011577E-05"
izz="0.00314294200807018" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="-0.4 0 0"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="0 0 1" />
<limit
lower="-4.22"
upper="1.482"
effort="0"
velocity="0" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="-1.79605965100471E-07 0.00259701240456633 0.109900764003892"
rpy="0 0 0" />
<mass
value="2.15725428044743" />
<inertia
ixx="0.00330856368913726"
ixy="1.54980608831483E-08"
ixz="-6.11985200886753E-08"
iyy="0.00249325151480447"
iyz="-3.92564305005983E-05"
izz="0.00314294193567546" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0 0 0.159"
rpy="1.5708 0 0" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 0 1" />
<limit
lower="-3.052"
upper="3.052"
effort="0"
velocity="0" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="-8.51439684634858E-06 -3.21107238169943E-05 0.0824679991674052"
rpy="0 0 0" />
<mass
value="0.201971657695659" />
<inertia
ixx="0.000112138021336963"
ixy="5.579417291184E-10"
ixz="5.33815248477796E-09"
iyy="0.000112259440363443"
iyz="9.93292688275349E-08"
izz="0.00016839014920608" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://frr16/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0 0 0.114"
rpy="-1.5708 0 0" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="0 0 1" />
<limit
lower="-3.052"
upper="3.052"
effort="0"
velocity="0" />
</joint>
</robot>sh: 1: rospack: not found
sh: 1: rospack: not found
sh: 1: rospack: not found
sh: 1: rospack: not found
sh: 1: rospack: not found
sh: 1: rospack: not found
The status bar at the bottom of the software displays：
Code: Select all
[simExtURDF:info] creating link 'flan'...
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] rospack find frr16
[simExtURDF:error] rospack failed: Command 'rospack find frr16' exited with status 127.
[simExtURDF:info] there are 6 joints.
[simExtURDF:info] there are 7 links.
[simExtURDF:info] there are 0 sensors.
[simExtURDF:info] creating link 'base_link'...
[simExtURDF:error] neither mesh file 'frr16/meshes/base_link.STL' nor '' do exist.
[simExtURDF:error] neither mesh file 'frr16/meshes/base_link.STL' nor '' do exist.
[simExtURDF:error] failed to create the mesh 'frr16/meshes/base_link.STL' or '' with extension type 4
[simExtURDF:info] creating link 'link1'...
[simExtURDF:error] neither mesh file 'frr16/meshes/link1.STL' nor '' do exist.
[simExtURDF:error] neither mesh file 'frr16/meshes/link1.STL' nor '' do exist.
[simExtURDF:error] failed to create the mesh 'frr16/meshes/link1.STL' or '' with extension type 4
[simExtURDF:info] creating link 'link2'...
[simExtURDF:error] neither mesh file 'frr16/meshes/link2.STL' nor '' do exist.
[simExtURDF:error] neither mesh file 'frr16/meshes/link2.STL' nor '' do exist.
[simExtURDF:error] failed to create the mesh 'frr16/meshes/link2.STL' or '' with extension type 4
[simExtURDF:info] creating link 'link3'...
[simExtURDF:error] neither mesh file 'frr16/meshes/link3.STL' nor '' do exist.
[simExtURDF:error] neither mesh file 'frr16/meshes/link3.STL' nor '' do exist.
[simExtURDF:error] failed to create the mesh 'frr16/meshes/link3.STL' or '' with extension type 4
[simExtURDF:info] creating link 'link4'...
[simExtURDF:error] neither mesh file 'frr16/meshes/link4.STL' nor '' do exist.
[simExtURDF:error] neither mesh file 'frr16/meshes/link4.STL' nor '' do exist.
[simExtURDF:error] failed to create the mesh 'frr16/meshes/link4.STL' or '' with extension type 4
[simExtURDF:info] creating link 'link5'...
[simExtURDF:error] neither mesh file 'frr16/meshes/link5.STL' nor '' do exist.
[simExtURDF:error] neither mesh file 'frr16/meshes/link5.STL' nor '' do exist.
[simExtURDF:error] failed to create the mesh 'frr16/meshes/link5.STL' or '' with extension type 4
[simExtURDF:info] creating link 'link6'...
[simExtURDF:error] neither mesh file 'frr16/meshes/link6.STL' nor '' do exist.
[simExtURDF:error] neither mesh file 'frr16/meshes/link6.STL' nor '' do exist.
[simExtURDF:error] failed to create the mesh 'frr16/meshes/link6.STL' or '' with extension type 4Re: Model is not displayed after importing URDF file
Make sure your ROS environment is functional and the
rospack command works.Re: Model is not displayed after importing URDF file
If you can't fix your ROS environment, then don't use
package:// URIs. You can manually edit the urdf file, or there's a "replace occurences of 'package://' with:" option when importing.