Revision history [back]

so by looking at the iris.sdf file, I can see that you've pasted URDF into the .sdf file. If we take a look at the following two pieces of code we can see what I mean:

  <inertial>
    <mass value="1e-5" />
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
  </inertial>

This first part is from line 80-84, the piece you've added.

  <inertial>
    <pose frame=''>0 0 0 0 -0 0</pose>
    <mass>0.015</mass>
    <inertia>
      <ixx>1e-05</ixx>
      <ixy>0</ixy>
      <ixz>0</ixz>
      <iyy>1e-05</iyy>
      <iyz>0</iyz>
      <izz>1e-05</izz>
    </inertia>
  </inertial>

This second part is from line 89-100, the part that already existed.

The way you write down sdf vs urdf is different, so your piece of code should look like this:

  <inertial>
    <pose frame=''>0 0 0 0 0 0</pose>
    <mass>1e-05</mass>
    <inertia>
      <ixx>1e-06</ixx>
      <ixy>0</ixy>
      <ixz>0</ixz>
      <iyy>1e-06</iyy>
      <iyz>0</iyz>
      <izz>1e-06</izz>
    </inertia>
  </inertial>

The same goes for all the lines you've added (56-85).

To get to the actual error you're seeing Required attribute[name] in element[collision] is not specified in SDF that's from line 65-70.

  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
  <box size="${camera_link} ${camera_link} ${camera_link}"/>
    </geometry>
  </collision>

The collision requires a name, so line 65 should have been:

  <collision name="camera_link_collision">

There are probably more errors, but like I said, I think you get those errors because you just simply add URDF in a .sdf file. I know that the other way around, you can fix this by adding

<gazebo reference="${link_name}">
     ...
</gazebo>

around the piece of sdf. I don't know if there is a URDF equivalent or if you should just rewrite it to sdf.