Unable to load sdf file.
Hello all, I want to load an SDF file but it keep showing an error:
[ERROR] [1678635055.839001, 0.000000]: Invalid XML: mismatched tag: line 90, column 2
Following is the detailed output:
[ INFO] [1678635055.628607023]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1678635055.631133677]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ERROR] [1678635055.839001, 0.000000]: Invalid XML: mismatched tag: line 90, column 2
[spawn_sdf-5] process has died [pid 7596, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/ibrrahim/catkin_workspaces/learning_ros_ws/src/exmpl_models/small_checkerboard/small_checkerboard.sdf -sdf -model small_checkerboard -x -0.03 -y -0.03 -z 0.2 __name:=spawn_sdf __log:=/home/ibrrahim/.ros/log/e0047cf4-c0ea-11ed-967e-441ca87fed69/spawn_sdf-5.log].
log file: /home/ibrrahim/.ros/log/e0047cf4-c0ea-11ed-967e-441ca87fed69/spawn_sdf-5*.log
Here is my sdf file, it does not seem any problem to me at line-40.
<?xml version='1.0'?>
<sdf version="1.4">
<model name="small_checkerboard">
<pose>0 0 0 0 0 0</pose>
<static>false</static>
<link name="small_checkerboard">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.083</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.083</iyy>
<iyz>0.0</iyz>
<izz>0.083</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.01 0.01 0.002</size>
</box>
</geometry>
</collision>
<visual name="sqr11">
<geometry>
<box>
<size>0.01 0.01 0.002</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</model>
</sdf>
Line-39 is: </model> which is second last line. Any help would be highly appreciated. Here is my launch file:
<launch>
<!-- ######################################################################################################## -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="extra_gazebo_args" default=""/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="physics" default="ode"/>
<arg name="verbose" default="false"/>
<arg name="world_name" value="$(find simple_camera_model)/simple_camera.world"/>
<group if="$(arg use_sim_time)">
<param name="/use_sim_time" value="true" />
</group>
<arg unless="$(arg paused)" name="command_arg1" value=""/>
<arg if="$(arg paused)" name="command_arg1" value="-u"/>
<arg unless="$(arg headless)" name="command_arg2" value=""/>
<arg if="$(arg headless)" name="command_arg2" value="-r"/>
<arg unless="$(arg verbose)" name="command_arg3" value=""/>
<arg if="$(arg verbose)" name="command_arg3" value="--verbose"/>
<arg unless="$(arg debug)" name="script_type" value="gzserver"/>
<arg if="$(arg debug)" name="script_type" value="debug"/>
<node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="false" output="screen"
args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />
<group if="$(arg gui)">
<node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen"/>
</group>
<param name="robot_description" command="$(find xacro)/xacro '$(find simple_camera_model)/simple_camera_model.xacro'" />
<node name="spawn_urdf ...