Revision history [back]

There are some errors in your xml,

• box size is negative

  <box size="-4.8 3 0.1" />
  

• one of the origin tag missing one element

  <origin xyz="2.45 0.75"/>

• the links are not static, so once the simulation is unpaused, the links flies off. But you can fix this by adding a static tag. See working model below:

  <robot name="my_robot">

  <link name="base_link">
  <inertial>
  <origin xyz="0 0 0" rpy="0 0 0"/> <mass value="100.0"/>
  <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0"/>
  </inertial>

  <visual> <origin xyz="0 0 0.05" rpy="0 0 0"/>
  <geometry> <box size="4.8 3 0.1"/>
  </geometry>
  <material name="white">
  <color rgba="1 1 1 1"/>
  </material> </visual>

  <collision> <origin xyz="0 0 0.05" rpy="0 0 0"/>
  <geometry> <box size="4.8 3 0.1"/>
  </geometry> </collision>
  </link>

  <link name="child_link">

  <inertial> <origin xyz="2.45 0 0.75"/> <mass value="10.0"/>
  <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0"/> </inertial>

  <visual> <geometry> <box size="0.1 3 1.5"/>
  </geometry>
  <origin xyz="2.45 0 0.75"/>
  <material name="white">
  <color rgba="1 1 1 1"/>
  </material>
  </visual>

  <collision>
  <origin xyz="2.45 0 0.75"/>
  <geometry> <box size="0.1 3 1.5"/>
  </geometry> </collision>
  </link>

  <joint name="base_link_to_child_link" type="continuous"> <parent link="base_link"/> <child link="child_link"/> <axis xyz="0 1 0"/> <calibration rising="0.0"/> </joint>

  <gazebo> <static>true</static> </gazebo> <gazebo reference="child_link"> <turngravityoff>true</turngravityoff> </gazebo> <gazebo reference="base_link"> <turngravityoff>true</turngravityoff> </gazebo> </robot>

There are some errors in your xml,

• box size is negative

  <box size="-4.8 3 0.1" />
  

• one of the origin tag missing one element

  <origin xyz="2.45 0.75"/>

• the links are not static, so once the simulation is unpaused, the links flies off. But you can fix this by adding a static tag. See working model below:

<?xml version="1.0"?>
<robot name="my_robot">
 
name="my_robot">
  <link name="base_link"> 

     <inertial> 
 name="base_link">
    <inertial>
       <origin xyz="0 0 0" rpy="0 0 0"/>
0"  />
       <mass value="100.0"/> 
value="100.0" />  
     <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0"/> 

   </inertial>   
 
izz="1.0" />         
   </inertial>
   <visual> 
     <origin xyz="0 0 0.05" rpy="0 0 0"/> 
0" />    
     <geometry>
        <box size="4.8 3 0.1"/> 
0.1" />     
     </geometry> 
 
     <material name="white"> 
 
        <color rgba="1 1 1 1"/> 
 
     </material> 
   </visual>     
 
 <collision>
     <origin xyz="0 0 0.05" rpy="0 0 0"/> 
0" />    
     <geometry> 
       <box size="4.8 3 0.1"/> 
0.1" />     
     </geometry> 
   </collision> 
 
 </link> 
 
 <link name="child_link">
 
name="child_link">

   <inertial> 
      <origin xyz="2.45 0 0.75"/> 0.75" /> 
      <mass value="10.0"/> 
value="10.0" />     
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0"/> izz="1.0" /> 
   </inertial>  
 
 <visual> 
     <geometry>
       <box size="0.1 3 1.5"/> 
 
     </geometry> 
 
     <origin xyz="2.45 0 0.75"/> 
0.75" />  
     <material name="white"> 
 
       <color rgba="1 1 1 1"/> 
 
     </material> 
 
   </visual> 
 
 <collision> 
 
     <origin xyz="2.45 0 0.75"/> 
0.75" />    
     <geometry> 
        <box size="0.1 3 1.5"/> 
1.5" />     
     </geometry> 
   </collision> 
 
 </link>  
 
 <joint name="base_link_to_child_link" type="continuous">
   <parent link="base_link"/> link="base_link" /> 
   <child link="child_link"/> link="child_link" /> 
   <axis xyz="0 1 0"/>
0" />
   <calibration rising="0.0"/> rising="0.0" /> 
 </joint> 
 
 <gazebo>
   <static>true</static>
 </gazebo>
 <gazebo reference="child_link">
   <turngravityoff>true</turngravityoff>
<turnGravityOff>true</turnGravityOff>
 </gazebo>
 <gazebo reference="base_link">
   <turngravityoff>true</turngravityoff>
<turnGravityOff>true</turnGravityOff>
 </gazebo>
</robot>
  </robot>