Custom Gazebo models disappearing


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:…

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>
        <pose>0.002502 0 0.50099 0 -0 0</pose>
      <collision name='tc6_big_target_collision'>
        <pose>0 0 0 1.5708 -0 0</pose>
            <scale>1 1 1</scale>
      <visual name='tc6_big_target_visual'>
        <pose>0 0 0 1.5708 -0 0</pose>
            <scale>1 1 1</scale>

What am I doing wrong here?

I’ve also posted on Gazebo Answers here


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>.

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

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