Hi,everyone.
I'm reading the book《mastering ros robotics programming》,and in chapter 2 I'm meeting some problems when I try to convert the xacro file to urdf file in the demo "seven_dof_arm".
My system is Ubuntu 16.04 & Ros Kinetic.
The xacro file and it's incluing sensor file are downloaded from https://github.com/qboticslabs/mastering_ros/tree/master/chapter_2_codes/mastering_ros_robot_description_pkg/urdf
When I run the command `rosrun xacro xacro.py seven_dof_arm.xacro > seven_dof_arm.urdf `，
the terminal shows:
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
inconsistent namespace redefinitions for xmlns:xacro:
old: http://www.ros.org/wiki/xacro1
new: http://ros.org/wiki/xacro1 (/home/dd/catkin_workspace/src/mastering_ros_robot_description_pkg/urdf/sensors/xtion_pro_live.urdf.xacro)
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
find . -iname "*.xacro" | xargs sed -i 's#<([/]\?)(if\|unless\|include\|arg\|property\|macro\|insert_block)#<\1xacro:\2#g'
when processing file: seven_dof_arm.xacro
unknown macro name: xacro:base
XacroException(u'unknown macro name: xacro:base',)
when processing file: seven_dof_arm.xacro
Can anyone help me ? Thanks.
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Some problems of conversion of xacro to urdf
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How do i solve this?
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
resource not found: create_description
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/jhdeanda/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
XacroException('resource not found:',)
when processing file: /home/jhdeanda/catkin_ws/src/kobuki/turtlebot_description/urdf/turtlebot_library.urdf.xacro
included from: /home/jhdeanda/catkin_ws/src/kobuki/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro
while processing /home/jhdeanda/catkin_ws/src/kobuki/turtlebot_gazebo/launch/includes/kobuki.launch.xml:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py '/home/jhdeanda/catkin_ws/src/kobuki/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro'] returned with code [2].
Param xml is
The traceback for the exception was written to the log file
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How to use .xacro file for spawning model by using spawn_model service in c++
Hi everyone
I have a question about spawning model by using spawn_model service. I use .xacro file for descripting the hector_quadrotor model. And I need to dynamically spawning new model by calling spawn_model service. But I feel confused about how to use .xacro file as parameter for the model_xml fild of gazebo_msgs/SpawnModel message type.If conversion is necessary, does anyone know how to conver .xacro to .urdf or .xml in c++ code.
Thanks
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Xacro Error: NoneType object has no attribute getitem
I'm trying to convert my `tortoisebot.urdf.xacro` file to a `tortoisebot.urdf` file by running `rosrun xacro xacro tortoisebot.urdf.xacro > tortoisebot.urdf` When I run this command I get this error:
I couldn't get it to format correctly, so it's in a Github Gist here: https://gist.github.com/anonymous/bf307fba632e6017ee887caf153c315e. What is causing this error and how do I fix it?
Again, I couldn't get the tortoisebot.urdf.xacro file to format correctly, so the link to the gist is here:
https://gist.github.com/kk6axq/0cc1f76dbb9609c22177bc9a5d252053
All help is appreciated!
Thanks,
L
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Hector sonar implementation on a Pioneer 3DX
Hello,
I'm working on a simulation of two Pioneer-3DX robots on Gazebo. (Debian Stretch / Gazebo 7 / ROS Kinetic)
I'm trying to implement sonar readings with Hector_sonar (to make one robot follow the other) but it seems like it doesn't work.
The problem I face is that I don't get any range/sonar display on rviz and the range I get from the sonar is always the same, even when the p3dx is alone with nothing around it (range moves between 0.04 and 0.05 which is not really what I would expect).
Here's how I did :
I cloned in my catkin_ws/src : https://github.com/tu-darmstadt-ros-pkg/hector_models
I used https://github.com/tu-darmstadt-ros-pkg/hector_models/blob/groovy-devel/hector_sensors_description/urdf/sonar_sensor.urdf.xacro from hector_models package to make my pioneer3dx_sonar.xacro :
true ${update_rate} 0 0 0 0 0 0 false ${ray_count} 1 -${field_of_view/2} ${field_of_view/2} ${ray_count} 1 -${field_of_view/2} ${field_of_view/2} ${min_range} ${max_range} 0.01 0.005 ${ros_topic} ${name}_link
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How to pass parameters loaded from a yaml file into a xacro?
If I do this:
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Problem with xacro:if value="${model_type == A_model_type}"
I'm trying to set up a Xacro where one section is based on a Model type passed as an argument (the first line below would be an external argument). No matter what model_type is set to, model A, B and C get included. I can get this to work by having a separate variable set to true/false for each model, but it's ugly. The following always loads all three models. I'm using Indigo.
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Does anyone know the focal length of Asus camera? or is there any documentation for it?
It's so important to me to find the answer before RoboCup 2017 competitions.
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Error reading end tag - Model parsing the xml failed
I am working on a sample exercise of creating an arm robot with 3 links and 2 joints, by defining the urdf file. Am also following the tutorial from **Mastering ROS for Robotics Programmin** by **Lentin Joseph**. I have the following code
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URDF tutorial Got Error
The screenshot for the problem:
I will try my best to describe it.
I just download the tutorial package from the Github: https://github.com/ros/urdf_tutorial/
Last time I tried, it was OK.
However, I reinstalled my system due to my PC error. Then if I tried to use
roslaunch urdf_sim_tutorial 09-joints.launch
It will launch `gazebo` normally. But there are many errors in the rivz RobotModel part.
**Many errors** such as :
No transform from [box] to [base_link]
However, I am pretty sure that there is such link in the file
So does any one encounter the same problem?
PS: I tried other files, they all give similar problem ( with the respect to the RobotModel in rivz)
I really appreciated if any one can help me.
Thanks.
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mavros/local_position/pose values are totally different than the position generated from gazebo model and odometry sensors
I am trying to use mavros with px4 firmware and sitl. I have a launch file that opens a gazebo environment, spawns the drone, runs mavros, and runs px4. The robot model I used is iris. I created the following xacro with the imu, odometry and gps plugins as you can see. Then I convert it to sdf to be used. Also, I created some static transformations to the launch file as shown as well.
The problem is that the position of the iris when using mavros/local_position/pose is different from ground_truth/pose generated from gazebo simulator. I do not know the source of the problem. So,
1- Is there any errors in the model used ?
2- What is the difference between parent_link and parent_frame_id link in the odometry plugin ??
3- Are the provided static transformation right or wrong ?
4- Any other suggestions to solve this problem
if more information required let me know and I will add it
Thanks in Advance
The xacro file for the iris as follows:
40 / base_link base_link navsat/fix navsat/vel 49.9 8.9 0 0 0.0001 0.0001 0.0001
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Turtlebot astra camera does not publish tf
Hello,
I have the following urdf file for my astras cameras (sensor_astra1 and sensor_astra2). The problem is that the /robot_state_publisher does not publish the TF of the cameras, so I cannot use them with RtabMap.
I have followed the [instructions](http://wiki.ros.org/turtlebot/Tutorials/indigo/Adding%20New%203D%20Sensor) in order to add new sensors to Turtlebot and I have all the required files. I beleive the problem is with the actual urdf of the cameras but I cannot see the error. The file is:
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Simulated 3-axis camera gimbal for UAV in gazebo
Hi there,
I'm currently trying to simulate a "perfect" (no friction) 3-axis camera gimbal attached on the bottom of a UAV. I'm using the hector quadrotor gazebo/ROS project to try and achieve this.
The ultimate goal is that the simulated image plane is continuously perpendicular with the world plane.
In order to achieve this, I've attached a simulated camera to 3 orthogonal, continuous joints via links with no length (see the URDF/xacro below). However, the image feed produced is still as if the camera were permanently affixed to it.
I'm fairly new to URDF/xacro/etc. so please excuse me if this is just a basic misunderstanding on my part!
Here's the gimbal URDF/xacro file I've created:
${update_rate} ${hfov * M_PI/180.0} ${image_format} ${res_x} ${res_y} 0.01 100 ${name} ${ros_topic} ${cam_info_topic} ${name}_optical_frame
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robot slips after upgrade to kinetic
Dear all,
After upgrading from Ubuntu 14.04 to 16.04 and from Indigo to Kinetic I'm experiencing a weird behavior from Gazebo and the HyQ robot model.
The complete robot model can be found [here](https://github.com/iit-DLSLab/hyq-description).
I made the minimal set of modifications to make it compatible with the new xacro standard (see [corresponding branch](http://github.com/iit-DLSLab/hyq-description/compare/kinetic-migration))
Even after setting unrealistically high friction coefficients in the corresponding tag (see [here](https://github.com/iit-DLSLab/hyq-description/blob/kinetic-migration/urdfs/leg/leg.gazebo.xacro#L69)), the robot can't walk and slips badly.
With the same description on Gazebo 2/ROS Indigo the robot always was fine.
Is there a new way to define friction between feet and ground? Am I missing a tag or something?
I saw that in Gazebo 7 there is a torsional friction, but I can't find from URDF documentation how to add it.
Also, there are many SDF-related tags which don't map well to URDF, like contact slip factor.
**UPDATE:**
I've narrowed down the issue to this portion of the URDF:
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Convert sdf file to urdf.xacro
Hey there I actually have a sdf file given and would like to convert it to an urdf.xacro file. As I have not found any converter for that I would like to do that by hand. Now what I currently have is e.g a sdf file which has a content like this:body_link wheel1_link 0 0 0 0 -0 0 0 1 0 0 -1.79769e+308 1.79769e+308 -1 -1 0 0 0 0 0 0.2 0 0.2
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Including another robot part via xacro
Hi, I've been trying to attach a gripper to my manipulator and I've decided it would be best for my project if it was in another file. The problem is that I can't seem to do this correctly, when running the gazebo simulation I get the message
Error [parser_urdf.cc:3474] Unable to call parseURDF on robot model
Error [parser.cc:342] parse as old deprecated model file failed.
[INFO] [1511876200.859116, 10.141000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name Kuka_kr3
And the robot will not spawn. Below I attach the codes for robot and gripper. Another question that I have, is that I've made these files in similar fashion, but I don't know if I can use the macros defined in the manipulator file in gripper definition? So far, I've written it as a standard urdf file.
Manipulator file
/kuka_kr3 0.5 0.5 Gazebo/${color} transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface EffortJointInterface 1 /gripper 0.5 0.5 Gazebo/Orange 0.5 0.5 Gazebo/Red 0.5 0.5 Gazebo/Red transmission_interface/SimpleTransmission EffortJointInterface EffortJointInterface 1 transmission_interface/SimpleTransmission EffortJointInterface EffortJointInterface 1
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Loading robot_description dependent on rosparams
There are a few dimensions of my robot model that are subject to change at runtime, and so I would like to use the param server to set and get those values. It was easy enough to set the values, but now I am unsure as to the best way to pass them to xacro when uploading the robot description:
- Am I right that there isn't a way to query a parameter from the server within a launch file? Otherwise I would do something like:
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model) my_var:=$(rosparam get my_var)">
- I can instead query the parameters within a python script, but how do I invoke xacro from within that script? Should I use `xacro.main(['arg1', 'arg2', ...])`? **Edit: Scratch this as `main()` doesn't take any arguments. I'd prefer a solution that doesn't necessitate forking/modifying core code.**
- Presumably python would allow me to go the "hacky" route and just run the xacro command in a shell and get the result from stdout?
Any suggestions welcome. Thanks!
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rviz ignores origin if it has decimal values
Hello,
I'm trying to modeling my first robot using URDF. The problem that I have is that when I visualize it with rviz, I can see that the joint's origins are ignored if they contains decimal points (for instance, something like "origin xyz="0 0 -0.08""). If, however, I use a comma to write decimal values on the origins (such as "origin xyz="0 0 -0.08""), everything works well.
This wouldn't be a problem if xacro didn't complain when I try to use math operations with comma decimals. So it is not clear to me if this is a bug on xacro, on rviz or if I am doing something wrong.
Anyone would have a clue of what can be happening?
For your reference, I am using ROS Lunar.
Thank you very much in advance.
Regards
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gazebo robot model modifying
Dear Alruists,
I have to modify some functionality of a relatively complex robot (legged & wheeled), which I did not work before. I can spawn the model(urdf, idont have xacro file) and change joint angles in rviz
roslaunch urdf_sim_tutorial gazebo.launch model:='$(find urdf_tutorial)/urdf/tt3.urdf'
- . I want to add force torque sensor to calculate efforts on wheel (added below portion but it shows
> [FATAL] [1515084753.020957716, 0.114000000]: gazebo_ros_ft_sensor plugin error: jointName: force_torque_sensor_rear_right does not exist
)true 100.0 ft_sensor_topic force_torque_sensor_rear_right
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Need help with find error in this urdf
Hi,
I am learning the tutorial about urdf. I am at the exercise 8 now.
The error I have when run the launch file is:
[ERROR] [1478674779.727709696]: length [${bodylen}] is not a valid float
[ERROR] [1478674779.727814955]: Could not parse visual element for Link [base_link]
[ERROR] [1478674779.727917245]: radius [${width}] is not a valid float: bad lexical cast: source type value could not be interpreted as target
[ERROR] [1478674779.727969693]: Could not parse visual element for Link [head]
.....
I will include here to the code from start to base_link. Please help me point out the issue. I cannot find out what is wrong.
...
Edit 1: I found the problem. I missed the 4 rows below the link
but I got a new error and I don't understand what it is:
...
process[rviz-4]: started with pid [7571]
[ERROR] [1478753950.661833770]: Error reading end tag.
[robot_state_publisher-3] process has died [pid 7563, exit code -11, cmd /opt/ros/indigo/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/ubuntu/.ros/log/6a4eafd8-a702-11e6-98d1-00044b581868/robot_state_publisher-3.log].
log file: /home/ubuntu/.ros/log/6a4eafd8-a702-11e6-98d1-00044b581868/robot_state_publisher-3*.log
Traceback (most recent call last):
File "/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher", line 343, in
jsp = JointStatePublisher()
File "/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher", line 26, in __init__
robot = xml.dom.minidom.parseString(description).getElementsByTagName('robot')[0]
File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString
return expatbuilder.parseString(string)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
return builder.parseString(string)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
parser.Parse(string, True)
xml.parsers.expat.ExpatError: no element found: line 239, column 0
[joint_state_publisher-2] process has died [pid 7555, exit code 1, cmd /opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/ubuntu/.ros/log/6a4eafd8-a702-11e6-98d1-00044b581868/joint_state_publisher-2.log].
log file: /home/ubuntu/.ros/log/6a4eafd8-a702-11e6-98d1-00044b581868/joint_state_publisher-2*.log
[ERROR] [1478753953.368324386]: No link elements found in urdf file
Edit 2: Full urdf xacro.
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