Problems while loading models in Gazebo 11

[pattacini]

Hi,

I've recently started off playing with Gazebo 11 in a Docker Image and I've noticed that there are models provided in this repo that will crumble down to the ground as soon as loaded within the environment.

Here are a couple of examples:

Model working OK
Model NOT working

As @traversaro found out, it might be due to gazebosim/gazebo-classic#2728.

cc @xEnVrE

[diegoferigo]

I just checked and also my setup is affected by this problem. I confirm that the (no hands) models works fine.

[traversaro]

The reason why the (no hands) model is working fine is that it is not a URDF file included in an SDF, so it is not affected by gazebosim/gazebo-classic#2728 . On the other hand, the feet_fixed and fixed models are indeed URDF models included in an SDF (see https://github.com/robotology/icub-models/blob/master/fixed_model.sdf.in), so they are indeed affected by gazebosim/gazebo-classic#2728 . As the SDF files are already automatically generated, it should be sufficient to just generate them with version 1.7 if Gazebo 11 is found by CMake.

[pattacini]

To sum up, we're required to include the patch you recommended here, @traversaro?

[traversaro]

To sum up, we're required to include the patch you recommended here, @traversaro?

More and less, basically that patch works fine if the sdf files are already in the source repo, while in the case of this repo we need to modify the sdf files that we already automatically generated.