Hello,
I have issues to spawn my FRANKA EMIKA robot in Gazebo. The robot model is a XACRO format.
I followed this tutorial:
http://gazebosim.org/tutorials?tut=ros_roslaunch#CreatingaCustomWorldFile
At first I followed the chapter "Creating your own Gazebo ROS Package". With that everything works fine.
First I have to call the command `roscore` in a terminal.
Afterwards I type in a new terminal:
. ~/catkin_ws/devel/setup.bash
roslaunch franka_gazebo franka.launch
The gas station shows up fine as shown in the tutorial.
---
Afterwards I followed the chapter "Using roslaunch to spawn URDF robots" --> "XACRO example with PR2"
I tried to adapt the commands on my case. So the two commands look like this:
**param name="robot_description" command="$(find xacro)/xacro.py $(find franka_ros)/franka_description/robots/hand.urdf.xacro"**
**node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model hand"**
My file hierarchy is following:
home/username/catkin_ws/src/franka_ros/franka_description/robots/hand.urdf.xacro
home/username/catkin_ws/src/franka_gazebo/
with the following in it:
..launch/franka.launch
..worlds/franka.world
..CMakeLists.txt
..package.xml
But the terminal gives back following:
WARN: unrecognized 'param' tag in tag
What have I done wrong?
WARN: unrecognized 'node' tag in tag
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