URDF 在 RVIZ 中加载不正确，但在 Gazebo 上加载正确，问题是什么？
我使用 SW2URDF 插件从 Solidworks 导入了 urdf 模型。该模型在 Gazebo 上正确加载，但在 RVIZ 上看起来很奇怪，即使在尝试远程操作机器人时，机械臂的旋转关节也会移动，而不是轮子。有没有人以前遇到过这个问题或者有解决方案？ 这是它在 Gazebo 上的样子 
这是 RVIZ 上的外观 
这是模型的URDF文件：
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="final_assembly3">
<link name="world" />
<joint name="fixed" type="fixed">
<parent link="world" />
<child link="base_link" />
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="0.14768 0.23303 0.22798"
rpy="0 0 0" />
<mass
value="7.6442" />
<inertia
ixx="0.075629"
ixy="3.85E-09"
ixz="-9.5343E-08"
iyy="0.14294"
iyz="1.6837E-11"
izz="0.081345" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/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://final_assembly3/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="Wheel 1">
<inertial>
<origin
xyz="-3.2558E-07 1.0722E-07 0.030838"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 1.STL" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 1.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 1"
type="continuous">
<origin
xyz="-0.0034084 -0.12798 0.10053"
rpy="-1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 1" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 2">
<inertial>
<origin
xyz="-3.2557837015279E-07 1.07217308559227E-07 0.0308380289896838"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 2.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 2.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 2"
type="continuous">
<origin
xyz="0.29877 -0.32798 0.10053"
rpy="1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 2" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 3">
<inertial>
<origin
xyz="-3.26336083100731E-07 1.07668861937249E-07 -0.0308380347831287"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 3.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 3.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 3"
type="continuous">
<origin
xyz="-0.0034084 -0.32798 0.10053"
rpy="1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 3" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 4">
<inertial>
<origin
xyz="-3.26299866348911E-07 1.07652009542769E-07 0.0291707139063403"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 4.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 4.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 4"
type="continuous">
<origin
xyz="0.30046 -0.12798 0.10053"
rpy="1.5708 0.62487 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 4" />
<axis
xyz="0 0 1" />
</joint>
<gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>50.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
<link
name="New Static Link">
<inertial>
<origin
xyz="0.0172790917411035 0.102994908792773 -0.000286417787769305"
rpy="0 0 0" />
<mass
value="1.94401355435528" />
<inertia
ixx="0.00768941377852196"
ixy="-0.0023016367314421"
ixz="2.28881904576314E-05"
iyy="0.00450259485431559"
iyz="3.78227208152756E-05"
izz="0.0103483641272583" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/New Static 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://final_assembly3/meshes/New Static Link.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Fixed"
type="fixed">
<origin
xyz="0.14768 -0.22798 0.33053"
rpy="1.5708 0 -1.581" />
<parent
link="base_link" />
<child
link="New Static Link" />
<axis
xyz="0 1 0" />
</joint>
<link
name="Arm">
<inertial>
<origin
xyz="0.13229755761114 -0.000278839398755615 -0.0323012411261709"
rpy="0 0 0" />
<mass
value="1.80462691606488" />
<inertia
ixx="0.00337104522287667"
ixy="2.3173417802539E-05"
ixz="-0.000161183912931026"
iyy="0.0199987994056373"
iyz="-1.64319461670501E-06"
izz="0.0222082055539029" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Arm.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://final_assembly3/meshes/Arm.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Rev1"
type="revolute">
<origin
xyz="0.06 0.18 -0.030782"
rpy="0 0 0.18829" />
<parent
link="New Static Link" />
<child
link="Arm" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 1">
<inertial>
<origin
xyz="0.0335816493728636 1.71749397870347E-07 0.0119354658625156"
rpy="0 0 0" />
<mass
value="0.123182781546625" />
<inertia
ixx="3.77360992389157E-05"
ixy="1.28183032967861E-11"
ixz="-5.81374538385023E-06"
iyy="0.000122947375330809"
iyz="2.65123689114698E-10"
izz="0.000144337931781889" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 1.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://final_assembly3/meshes/Pris 1.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 1"
type="revolute">
<origin
xyz="0.1 0 -0.063391"
rpy="3.1416 0 -1.9477" />
<parent
link="Arm" />
<child
link="Pris 1" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 2">
<inertial>
<origin
xyz="1.8466057571942E-09 -5.55111512312578E-17 0.01"
rpy="0 0 0" />
<mass
value="0.260668670250234" />
<inertia
ixx="7.94869252643328E-05"
ixy="-2.07014852308951E-18"
ixz="2.73993982613085E-18"
iyy="0.00115947637560852"
iyz="1.99348984198689E-09"
izz="0.00122317832768109" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 2.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://final_assembly3/meshes/Pris 2.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 2"
type="revolute">
<origin
xyz="-0.0014893 -0.078861 0.020827"
rpy="0 0 0.90855" />
<parent
link="Pris 1" />
<child
link="Pris 2" />
<axis
xyz="0 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 3">
<inertial>
<origin
xyz="-0.166565243027124 0.000967072198009372 0.0300000329001753"
rpy="0 0 0" />
<mass
value="0.449710314809642" />
<inertia
ixx="0.00137456804218307"
ixy="-4.43060167581936E-05"
ixz="9.82391747567394E-10"
iyy="0.002208699287522"
iyz="-1.54947639651244E-09"
izz="0.00315643719811711" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 3.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://final_assembly3/meshes/Pris 3.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 3"
type="prismatic">
<origin
xyz="0.20514 0.030503 -0.039218"
rpy="-1.5708 0 3.1416" />
<parent
link="Arm" />
<child
link="Pris 3" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
</robot>
ROS版本：ROS Melodic
Ubuntu 18.04
I have imported a urdf model from Solidworks using SW2URDF plugin. The model loads correctly on Gazebo but looks weird on RVIZ, even while trying to teleoperate the robot, the revolute joint of the manipulator moves instead of the wheels. Is there anyone who has faced this issue before or has a solution to it?
Here is how it looks on Gazebo
Here is how it looks on RVIZ
Here is the URDF file of the Model:
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="final_assembly3">
<link name="world" />
<joint name="fixed" type="fixed">
<parent link="world" />
<child link="base_link" />
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="0.14768 0.23303 0.22798"
rpy="0 0 0" />
<mass
value="7.6442" />
<inertia
ixx="0.075629"
ixy="3.85E-09"
ixz="-9.5343E-08"
iyy="0.14294"
iyz="1.6837E-11"
izz="0.081345" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/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://final_assembly3/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="Wheel 1">
<inertial>
<origin
xyz="-3.2558E-07 1.0722E-07 0.030838"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 1.STL" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 1.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 1"
type="continuous">
<origin
xyz="-0.0034084 -0.12798 0.10053"
rpy="-1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 1" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 2">
<inertial>
<origin
xyz="-3.2557837015279E-07 1.07217308559227E-07 0.0308380289896838"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 2.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 2.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 2"
type="continuous">
<origin
xyz="0.29877 -0.32798 0.10053"
rpy="1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 2" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 3">
<inertial>
<origin
xyz="-3.26336083100731E-07 1.07668861937249E-07 -0.0308380347831287"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 3.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 3.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 3"
type="continuous">
<origin
xyz="-0.0034084 -0.32798 0.10053"
rpy="1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 3" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 4">
<inertial>
<origin
xyz="-3.26299866348911E-07 1.07652009542769E-07 0.0291707139063403"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 4.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 4.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 4"
type="continuous">
<origin
xyz="0.30046 -0.12798 0.10053"
rpy="1.5708 0.62487 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 4" />
<axis
xyz="0 0 1" />
</joint>
<gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>50.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
<link
name="New Static Link">
<inertial>
<origin
xyz="0.0172790917411035 0.102994908792773 -0.000286417787769305"
rpy="0 0 0" />
<mass
value="1.94401355435528" />
<inertia
ixx="0.00768941377852196"
ixy="-0.0023016367314421"
ixz="2.28881904576314E-05"
iyy="0.00450259485431559"
iyz="3.78227208152756E-05"
izz="0.0103483641272583" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/New Static 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://final_assembly3/meshes/New Static Link.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Fixed"
type="fixed">
<origin
xyz="0.14768 -0.22798 0.33053"
rpy="1.5708 0 -1.581" />
<parent
link="base_link" />
<child
link="New Static Link" />
<axis
xyz="0 1 0" />
</joint>
<link
name="Arm">
<inertial>
<origin
xyz="0.13229755761114 -0.000278839398755615 -0.0323012411261709"
rpy="0 0 0" />
<mass
value="1.80462691606488" />
<inertia
ixx="0.00337104522287667"
ixy="2.3173417802539E-05"
ixz="-0.000161183912931026"
iyy="0.0199987994056373"
iyz="-1.64319461670501E-06"
izz="0.0222082055539029" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Arm.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://final_assembly3/meshes/Arm.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Rev1"
type="revolute">
<origin
xyz="0.06 0.18 -0.030782"
rpy="0 0 0.18829" />
<parent
link="New Static Link" />
<child
link="Arm" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 1">
<inertial>
<origin
xyz="0.0335816493728636 1.71749397870347E-07 0.0119354658625156"
rpy="0 0 0" />
<mass
value="0.123182781546625" />
<inertia
ixx="3.77360992389157E-05"
ixy="1.28183032967861E-11"
ixz="-5.81374538385023E-06"
iyy="0.000122947375330809"
iyz="2.65123689114698E-10"
izz="0.000144337931781889" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 1.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://final_assembly3/meshes/Pris 1.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 1"
type="revolute">
<origin
xyz="0.1 0 -0.063391"
rpy="3.1416 0 -1.9477" />
<parent
link="Arm" />
<child
link="Pris 1" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 2">
<inertial>
<origin
xyz="1.8466057571942E-09 -5.55111512312578E-17 0.01"
rpy="0 0 0" />
<mass
value="0.260668670250234" />
<inertia
ixx="7.94869252643328E-05"
ixy="-2.07014852308951E-18"
ixz="2.73993982613085E-18"
iyy="0.00115947637560852"
iyz="1.99348984198689E-09"
izz="0.00122317832768109" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 2.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://final_assembly3/meshes/Pris 2.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 2"
type="revolute">
<origin
xyz="-0.0014893 -0.078861 0.020827"
rpy="0 0 0.90855" />
<parent
link="Pris 1" />
<child
link="Pris 2" />
<axis
xyz="0 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 3">
<inertial>
<origin
xyz="-0.166565243027124 0.000967072198009372 0.0300000329001753"
rpy="0 0 0" />
<mass
value="0.449710314809642" />
<inertia
ixx="0.00137456804218307"
ixy="-4.43060167581936E-05"
ixz="9.82391747567394E-10"
iyy="0.002208699287522"
iyz="-1.54947639651244E-09"
izz="0.00315643719811711" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 3.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://final_assembly3/meshes/Pris 3.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 3"
type="prismatic">
<origin
xyz="0.20514 0.030503 -0.039218"
rpy="-1.5708 0 3.1416" />
<parent
link="Arm" />
<child
link="Pris 3" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
</robot>
ROS version:ROS Melodic
Ubuntu 18.04
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评论（3）
所以，我意识到两个问题：
首先，你必须将RViz全局选项中的固定框架更改为
world，或者提供map和world<之间的转换/代码>。其次，您的 URDF 似乎已损坏。您的
revolute型关节有问题。将其类型更改为fixed解决了问题。我认为，最好针对第二个问题，用最小示例提出一个单独的问题。So, I realized two problems:
First, you have to change the fixed frame in the global options of RViz to
worldor provide a transformation betweenmapandworld.Second, your URDF seems broken. There is something wrong with your
revolute-typed joints. Changing their type tofixedfixed the problem. I think, it's best if you ask a separate question with a minimal example regarding this second problem.为了能够在 rviz 下执行正确的可视化，您必须将固定框架从“地图”更改为“世界”或“base_link”，具体取决于关于您要选择的参考。
To be able to perform a correct visualization under rviz, you must change fixed frame from "map" to "world" or "base_link" depending on the reference you want to choose.
我有类似的问题。就我而言，我没有在主题 /state 上发布任何内容，rviz 希望将 /robot_description 中描述的机器人部分组合在一起。您应该尝试查看是否启动了joint_state_broadcaster（它将联合状态从gazebo转发到ROS）
I had a similar issue. In my case I had nothing publishing on the topic /state which rviz expect to put together the part of your robot described in /robot_description. You should try looking if a joint_state_broadcaster is launched (it is what forward the joint state from gazebo to ROS)