gazebo urdf 在gazebo中的显示

给每个link都添加<collision> <inertia>

如果joint  type="fixed"则默认在gazebo中不显示。

<?xml version="1.0"?>
<robot name="materials" xmlns:xacro="http://ros.org/wiki/xacro">
 
  <xacro:macro name="default_inertial" params="mass">
    <inertial>
      <mass value="${mass}" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
  </xacro:macro>
  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>

  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>

  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <material name="blue"/>
    </visual>

        <collision>
      <geometry>
        <cylinder radius="0.2" length="0.6"/>
      </geometry>
    </collision>
    <xacro:default_inertial mass="10"/>

  </link>

  <link name="right_leg">
    <visual>
      <geometry>
        <box size="0.6 0.1 0.2"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
      <material name="white"/>
    </visual>

            <collision>
      <geometry>
        <box size="0.6 0.1 0.2"/>
      </geometry>
    </collision>
    <xacro:default_inertial mass="10"/>

  </link>

  <joint name="base_to_right_leg4" type="fixed">
    <parent link="base_link"/>
    <child link="right_leg"/>
    <origin xyz="0 -0.22 0.25"/>
  </joint>

  <link name="left_leg">
    <visual>
      <geometry>
        <box size="0.6 0.1 0.2"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
      <material name="white"/>
     
    </visual>
             <collision>
      <geometry>
        <box size="0.6 0.1 0.2"/>
      </geometry>
    </collision>
    <xacro:default_inertial mass="10"/>
  </link>

  <gazebo reference="right_leg">
    <material>Gazebo/Orange</material>
  </gazebo>

  <joint name="base_to_left_leg" type="continuous">
    <parent link="base_link"/>
    <child link="left_leg"/>
    <origin xyz="0 0.22 0.25"/>
  </joint>

<gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
    </plugin>
  </gazebo>
</robot>

<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <arg name="model" default="$(find urdf_tutorial)/urdf/04-materials.urdf"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
  <!-- push robot_description 
   <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

  to factory and spawn robot in gazebo -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
        args="-z 1.0 -unpause -urdf -model robot -param robot_description" respawn="false" output="screen" />

  <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

</launch>

如果是xacro文件， 

<param name="robot_description" command="$(find xacro)/xacro.py demo.xacro" />

如果是urdf文件

<param name="robot_description" command="$(find xacro)/xacro --inorder demo.urdf" />

$ rosdep install --from-paths src --ignore-src -y