Custom Gazebo models disappearing

ANAFI USA / ANAFI Thermal / ANAFI 4K
1

Hello,

Somehow, when I add my own models into Sphinx-Gazebo, sometimes they disappear and collect themselves at (0,0).

There is no error / warning messages on the terminal.

Here’s a video showing the issue: https://www.youtube.com/watch?v=cSCjN…

This doesn’t happen with the default models (tested with beer, cinder block, and cardboard box models).

What’s happening???

Here’s the sdf of one of my models;

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name='tc6_big_target'>
    <link name='tc6_big_target'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0.002502 0 0.50099 0 -0 0</pose>
        <mass>11.287</mass>
        <inertia>
          <ixx>5.72909</ixx>
          <ixy>-1.72778e-18</ixy>
          <ixz>0.0282177</ixz>
          <iyy>5.65454</iyy>
          <iyz>-2.45135e-16</iyz>
          <izz>1.65105</izz>
        </inertia>
      </inertial>
      <collision name='tc6_big_target_collision'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://tc6_big_target/meshes/tc6_big_target.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='tc6_big_target_visual'>
        <pose>0 0 0 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://tc6_big_target/meshes/tc6_big_target.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>

What am I doing wrong here?

I’ve also posted on Gazebo Answers here http://answers.gazebosim.org/question/22981/custom-models-disappearing/

Arif

2

The issue seems to disappear after removing the <pose> element under <inertial>.

If your targets don’t need to be dynamic objects, you could actually remove the <inertial> element and add <static>true</static> under <model>.

3

@ocrave you are right, no more disappearing once I remove that elements.

And thanks for the tip too, that’s a good idea.