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Anyone run sdf_parser.launch.py from the gazebo demos?

I have Gazebo Harmonic on Ubuntu 24.04 built from source. I tried to run the above demo and it throws an error in this line <uri>package://ros_gz_sim_demos/models/vehicle</uri>that it cannot find the model.

I tried modifying it to this <uri>model://vehicle</uri> but still get the same error.

Tried also from the binary installation and still getting the same error.

What could be wrong?

Edit: Reply to the answer of @JustPtrck

I wanted to see how the tf tree is structured. My tf tree is similat to the tf tree from another example namely tf_bridge.launch.py

TF tree of the example:

TF tree of the example: tf_bridge.launch.py

My TF tree:

My TF tree

In my TF tree I don't understand why all the sensors are not under the x500_lidar_2d/base_link frame.

In my sdf file all my sensors have this tag:

<pose relative_to="base_link">0 0 0.1 0 0 0</pose>

And a separate joint definition such as:

 <joint name="imu_joint" type="fixed"> <parent>base_link</parent> <child>imu_link</child> </joint>
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1 Answer 1

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Seems like this file has not been updated in the jazzy branch of ros_gz.

vehicle.sdf is outdated, it uses the old ignition::gazebo namespaces instead of the new gz::sim. Which should definitely cause issues.

 <plugin filename="ignition-gazebo-diff-drive-system" name="ignition::gazebo::systems::DiffDrive"> <left_joint>left_wheel_joint</left_joint> <right_joint>right_wheel_joint</right_joint> <wheel_separation>1.25</wheel_separation> <wheel_radius>0.3</wheel_radius> <odom_publish_frequency>1</odom_publish_frequency> <max_linear_acceleration>1</max_linear_acceleration> <min_linear_acceleration>-1</min_linear_acceleration> <max_angular_acceleration>2</max_angular_acceleration> <min_angular_acceleration>-2</min_angular_acceleration> <max_linear_velocity>0.5</max_linear_velocity> <min_linear_velocity>-0.5</min_linear_velocity> <max_angular_velocity>1</max_angular_velocity> <min_angular_velocity>-1</min_angular_velocity> </plugin>

What is the reason you need this demo? Maybe we can help you with your specific issue.

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  • $\begingroup$ Please see edit for an update. $\endgroup$ Commented Jan 2 at 12:05

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