Using URDF For Gazebo Exercise U2-1 could not visualize the urdf

I am currently in Chapter 3 in the URDF course. I am facing problems with trying to visualize my robot mira in the rviz for some reason.

I tried copy and pasting the solution but the GraphicalTools are completely black screened and nothing pops out. Here’s a flow of what I did so you could possibly see what I did wrong;

    # Execute in shell #1
    roslaunch my_mira_description spawn_mira_geometric_collisions_inertias.launch

    # Output in terminal

  ... logging to /home/user/.ros/log/270bd63a-cf7d-11eb-945c-0242ac1c0008/roslaunch-3_xterm-11843.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://3_xterm:38421/


 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

    urdf_spawner (gazebo_ros/spawn_model)


process[urdf_spawner-1]: started with pid [11853]
SpawnModel script started
[INFO] [1623946002.380653, 0.000000]: Loading model XML from ros parameter
[INFO] [1623946002.383453, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1623946002.386742, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1623946002.633404, 3748.800000]: Spawn status: SpawnModel: Successfully spawned entity
[urdf_spawner-1] process has finished cleanly
log file: /home/user/.ros/log/270bd63a-cf7d-11eb-945c-0242ac1c0008/urdf_spawner-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete

However, nothing emerges from the gazebo.

I also checked if mira is really spawned or not using :
rosservice call /gazebo/get_world_properties

…and mira is indeed there.

Can you point out what I did wrong?

Hello @WhenOwlsHoot ,

It looks like you are not starting RViz. You need to run the command:


or start it with a launch file in order to visualize it.

Thank you! I think I found where it went wrong. I didnt know that gazebo and rviz launch file are different.