STL file error

[bymbhaskar]

When I am running the simulation I am getting this error:

[ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [meshes/left_ankle_pitch_link.STL]
[ruby $(which gz) sim-1] [Err] [MeshManager.cc:211] Unable to find file[meshes/left_ankle_pitch_link.STL]
[ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [meshes/left_ankle_roll_link.STL]
[ruby $(which gz) sim-1] [Err] [MeshManager.cc:211] Unable to find file[meshes/left_ankle_roll_link.STL]
[ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [meshes/right_ankle_pitch_link.STL]
[ruby $(which gz) sim-1] [Err] [MeshManager.cc:211] Unable to find file[meshes/right_ankle_pitch_link.STL]
[ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [meshes/right_ankle_roll_link.STL]
[ruby $(which gz) sim-1] [Err] [MeshManager.cc:211] Unable to find file[meshes/right_ankle_roll_link.STL]

OS: Ubuntu 22.04
ROS2 Humble

Complete log:

ros2 launch ros_gz_h1_bringup h1_gazebo_sim_torque_ctrl.launch.py
[INFO] [launch]: All log files can be found below /home/bhaskar/.ros/log/2025-12-16-15-22-28-202099-bhaskar-ThinkPad-L14-Gen-1-326897
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [326898]
[INFO] [parameter_bridge-2]: process started with pid [326901]
[INFO] [robot_state_publisher-3]: process started with pid [326903]
[robot_state_publisher-3] Error [Converter.cc:156] Unable to convert from SDF version 1.10 to 1.9
[ruby $(which gz) sim-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[robot_state_publisher-3] [WARN] [1765878748.989514243] [sdformat_urdf]: SDFormat link [pelvis] has a , but URDF does not support this
[robot_state_publisher-3] [WARN] [1765878749.033856122] [kdl_parser]: The root link pelvis has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-3] [INFO] [1765878749.034316440] [robot_state_publisher]: got segment left_ankle_pitch_link
[robot_state_publisher-3] [INFO] [1765878749.034420913] [robot_state_publisher]: got segment left_ankle_roll_link
[robot_state_publisher-3] [INFO] [1765878749.034440101] [robot_state_publisher]: got segment left_elbow_link
[robot_state_publisher-3] [INFO] [1765878749.034451951] [robot_state_publisher]: got segment left_hip_pitch_link
[robot_state_publisher-3] [INFO] [1765878749.034462429] [robot_state_publisher]: got segment left_hip_roll_link
[robot_state_publisher-3] [INFO] [1765878749.034473820] [robot_state_publisher]: got segment left_hip_yaw_link
[robot_state_publisher-3] [INFO] [1765878749.034485497] [robot_state_publisher]: got segment left_knee_link
[robot_state_publisher-3] [INFO] [1765878749.034497752] [robot_state_publisher]: got segment left_shoulder_pitch_link
[robot_state_publisher-3] [INFO] [1765878749.034510591] [robot_state_publisher]: got segment left_shoulder_roll_link
[robot_state_publisher-3] [INFO] [1765878749.034522684] [robot_state_publisher]: got segment left_shoulder_yaw_link
[robot_state_publisher-3] [INFO] [1765878749.034535149] [robot_state_publisher]: got segment left_wrist_pitch_link
[robot_state_publisher-3] [INFO] [1765878749.034547388] [robot_state_publisher]: got segment left_wrist_roll_link
[robot_state_publisher-3] [INFO] [1765878749.034558664] [robot_state_publisher]: got segment left_wrist_yaw_link
[robot_state_publisher-3] [INFO] [1765878749.034570447] [robot_state_publisher]: got segment pelvis
[robot_state_publisher-3] [INFO] [1765878749.034581943] [robot_state_publisher]: got segment right_ankle_pitch_link
[robot_state_publisher-3] [INFO] [1765878749.034592356] [robot_state_publisher]: got segment right_ankle_roll_link
[robot_state_publisher-3] [INFO] [1765878749.034602783] [robot_state_publisher]: got segment right_elbow_link
[robot_state_publisher-3] [INFO] [1765878749.034612994] [robot_state_publisher]: got segment right_hip_pitch_link
[robot_state_publisher-3] [INFO] [1765878749.034623799] [robot_state_publisher]: got segment right_hip_roll_link
[robot_state_publisher-3] [INFO] [1765878749.034634877] [robot_state_publisher]: got segment right_hip_yaw_link
[robot_state_publisher-3] [INFO] [1765878749.034644997] [robot_state_publisher]: got segment right_knee_link
[robot_state_publisher-3] [INFO] [1765878749.034654944] [robot_state_publisher]: got segment right_shoulder_pitch_link
[robot_state_publisher-3] [INFO] [1765878749.034664784] [robot_state_publisher]: got segment right_shoulder_roll_link
[robot_state_publisher-3] [INFO] [1765878749.034675460] [robot_state_publisher]: got segment right_shoulder_yaw_link
[robot_state_publisher-3] [INFO] [1765878749.034685973] [robot_state_publisher]: got segment right_wrist_pitch_link
[robot_state_publisher-3] [INFO] [1765878749.034696003] [robot_state_publisher]: got segment right_wrist_roll_link
[robot_state_publisher-3] [INFO] [1765878749.034706024] [robot_state_publisher]: got segment right_wrist_yaw_link
[robot_state_publisher-3] [INFO] [1765878749.034717287] [robot_state_publisher]: got segment torso_link
[parameter_bridge-2] [INFO] [1765878749.708432619] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.781688846] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/imu (ignition.msgs.IMU) -> /imu (sensor_msgs/msg/Imu)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.793993623] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/demo/model/h1_ign/joint_state (gz.msgs.Model) -> /joint_states (sensor_msgs/msg/JointState)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.798381811] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/h1_ign/pose (gz.msgs.Pose_V) -> /tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.808866678] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/h1_ign/pose_static (gz.msgs.Pose_V) -> /tf_static (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.811311312] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/h1_ign/odometry (ignition.msgs.Odometry) -> /h1/odometry (nav_msgs/msg/Odometry)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.818943696] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_hip_yaw_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_hip_yaw_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.825258680] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_hip_pitch_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_hip_pitch_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.827242527] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_hip_roll_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_hip_roll_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.831402885] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_knee_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_knee_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.834642120] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_ankle_pitch_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_ankle_pitch_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.838575795] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_ankle_roll_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_ankle_roll_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.843634236] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_hip_yaw_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_hip_yaw_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.845924465] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_hip_pitch_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_hip_pitch_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.850013511] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_hip_roll_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_hip_roll_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.852463086] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_knee_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_knee_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.854660173] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_ankle_pitch_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_ankle_pitch_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.857692300] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_ankle_roll_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_ankle_roll_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.860941895] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/torso_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/torso_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.863203979] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_shoulder_pitch_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_shoulder_pitch_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.865158169] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_shoulder_roll_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_shoulder_roll_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.866468700] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_shoulder_yaw_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_shoulder_yaw_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.867389776] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_elbow_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_elbow_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.868287386] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_wrist_roll_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_wrist_roll_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.869878167] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_wrist_pitch_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_wrist_pitch_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.872787122] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/left_wrist_yaw_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/left_wrist_yaw_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.876114752] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_shoulder_pitch_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_shoulder_pitch_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.877369795] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_shoulder_roll_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_shoulder_roll_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.880049317] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_shoulder_yaw_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_shoulder_yaw_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.881522127] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_elbow_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_elbow_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.885450072] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_wrist_roll_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_wrist_roll_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.887197612] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_wrist_pitch_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_wrist_pitch_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.889392618] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/right_wrist_yaw_joint_cmd (std_msgs/msg/Float64) -> /model/h1_ign/joint/right_wrist_yaw_joint/cmd_force (gz.msgs.Double)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.891140280] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/demo/model/h1_ign/link/left_ankle_roll_link/sensor/contact_sensor_left/contact (gz.msgs.Contacts) -> /h1/left_contact_force (ros_gz_interfaces/msg/Contacts)] (Lazy 0)
[parameter_bridge-2] [INFO] [1765878749.900603413] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/world/demo/model/h1_ign/link/right_ankle_roll_link/sensor/contact_sensor_right/contact (gz.msgs.Contacts) -> /h1/right_contact_force (ros_gz_interfaces/msg/Contacts)] (Lazy 0)
[ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [meshes/left_ankle_pitch_link.STL]
[ruby $(which gz) sim-1] [Err] [MeshManager.cc:211] Unable to find file[meshes/left_ankle_pitch_link.STL]
[ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [meshes/left_ankle_roll_link.STL]
[ruby $(which gz) sim-1] [Err] [MeshManager.cc:211] Unable to find file[meshes/left_ankle_roll_link.STL]
[ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [meshes/right_ankle_pitch_link.STL]
[ruby $(which gz) sim-1] [Err] [MeshManager.cc:211] Unable to find file[meshes/right_ankle_pitch_link.STL]
[ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [meshes/right_ankle_roll_link.STL]
[ruby $(which gz) sim-1] [Err] [MeshManager.cc:211] Unable to find file[meshes/right_ankle_roll_link

[K-d4wg]

Hi there!

Thanks for reaching out. On first sight, the issue seems rather strange. Can you provide me with a few more details regarding the issue:

1. What gazebo version are you using?
2. Is the error log complete and it only doesn't find the ankle meshes, or does it not find any meshes at all?
3. Can you check your work-space's install directory:
   <ws_name>/install/ros_gz_h1_description/share/ros_gz_h1_description/models/h1_ign/meshes
   Are all the meshes there?

Best,
Karsten

[bymbhaskar]

I think the issues are coming because I am using ROS humble on Ubuntu 22.04. Can this package work on ROS Humble?

[K-d4wg]

I was looking into it a bit and yes, it should be a version conflict.

The repository relies on the newer SDF formats >= 1.10 (supported by Jazzy and Harmonic) but older distributions are unable to cope with it, i.e., the initial error message: "[robot_state_publisher-3] Error [Converter.cc:156] Unable to convert from SDF version 1.10 to 1.9".

To make it work in Humble, you could try to just change " " to " " in:
<ws_name>/h1_gazebo_sim/ros_gz_h1_description/models/h1_ign/model.sdf
, then rebuild.
Maybe that's enough to build properly on ROS2 Humble.

Let me know how it goes.