How to handle multiple URDF files in a single moveit package
Hello, I am trying to test several robot-tool configurations. Doing that, I combined the tool urdfs (as discussed...
View ArticleHelp with using parameters in included Xacro Macro
Hello all, I'm trying to do something that I think is very basic but running into all kinds of trouble. System is Ubuntu 16.04 with ROS Kinetic. I want to define my robot (a drone) with the following...
View ArticleConverting from URDF to STL
Is there any way to convert URDF files into STL files? I know basically we use CAD software to create stl and convert them into urdf to simulate our robots. But, in my situation, I have only xacro...
View Articleroslaunch Python arg substitution finds wrong package folder path?
I've recently played around with [Python expressions as substitution args in launch files](http://wiki.ros.org/roslaunch/XML#substitution_args) (on 16.04 AMD64/Kinetic/current .debs). I encountered a...
View ArticleHow does one pass xacro blocks as arguments in a launch file?
The ``insert_block`` feature in xacro is super nice. However, I am not quite sure how to pass such a block argument from a launch file. Most of the answers I have seen so far are about passing single...
View ArticleProblem 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...
View ArticleHow to use SDF with ROS packages in gazebo?
Using ROS Indigo and Gazebo 2.2 on Ubuntu 14.04 I have created a model for a robot that is similar to Clearpath's Jackal. What I am trying to do is have the already-created Jackal packages apply to my...
View Articlexacro properties
I'm trying to use the mesh from the [realsense camera](https://github.com/intel-ros/realsense/tree/development/realsense2_camera) in my .urdf.xacro file and getting `name 'd435_cam_height' is not...
View ArticleXacro include breaks including xacro file
I have a xacro file named "diff_wheeled_robot.urdf.xacro" to describe a robot and it works just fine. It is including other xacro files and their xacro macros. Now I want to include another xacro file...
View ArticleQuestions to SDF, urdf, xacro, material, textures using Gazebo
Hi Guys, Currently I am a little stuck with my xacro model. I have a texture file which should be attached to a surface in the xacro. How to add materials to your package, what do I need to export...
View Article'#pragma once' equivalent for urdf/xacro files
I have multiple urdf files representing different components of a robot. As I don't want to define materials multiple times in different files, I created a file containing those definitions...
View ArticleNo camera message received with tum_simulator
I am running tum_simulator in ros kinetic ubuntu 16.04 when i run $ roslaunch cvg_sim_gazebo ardrone_testworld.launch i get the following warning, xacro: Traditional processing is deprecated. Switch to...
View ArticleThe joints cannot rotate in Rviz
I use .xacro file as the model of the robot, and show it in Rviz. Part of the .xacro file is as follows. The launch file is as follows. When I change the `joint_state_publisher` pedal, the robot just...
View ArticleHow to add custom tool to robot end effector in URDF or Xacro for Moveit!
I am using ROS kinetic on Ubuntu 16.04 I would like to add a custom tool (CAD file) to my robot end effector, so that I can define a new point (on the custom tool) as the end effector for path...
View ArticleError: Joint is missing a parent and/or child
Hi all, I'm trying to build a robotic arm, but I'm having troubles when I create the macro to simplify the code. I have the next error: Failed to build tree: Joint [module_1_length_yaw_joint] is...
View ArticleXML parsing error: XML or text declaration not at start of entity
I keep getting this error on my xacro file. To be honest I am not familiar with this kind of format and I was wondering if I could get any help for the bad syntax error that keeps popping. Thanks in...
View Articlexacro command not found
I am trying to run a xacro command to generate the latest baxter.srdf file to use with Moveit config. I found the command in a readme file in the baxter_moveit_config folder. It has been modified to...
View ArticleArm does not appear when using xacro to attach UR5 to Robotiq Gripper
I am trying to attach a Robotiq 2f gripper to a UR5 arm, but cannot get the two components to properly connect to one another. Following the tutorial...
View ArticleI cannot make gazebo_ros_vacuum_gripper plugin to work. Please help
Hello, I have a vacuum gripper in Gazebo simulation and I am trying to attach the gazebo_ros_vacuum_gripper plugin to make it work but without any success so far. My .xacro configuration is as follows:...
View ArticleConvert xacro to sdf when catkin_make is used
Hi all, I have a model defined in xacro file with gazebo extension, similar to files [rrbot.xacro and...
View ArticleSTL file fails to load when using user-created package
I'm trying to load an STL file in xacro and find that it works fine when I place the file in 'urdf_tutorial/meshes'. However, if I try to reference the same file, but now in a sub-directory of my own...
View ArticleIt doesn't display 3D model in RVIZ but it does in Gazebo
I'm just started to learn ROS and Gazebo using ROS Melodic and Gazebo 9.6.0. I use this launch file to open RVIZ: But I see that on it:  I use this...
View ArticleURDF on parameter server parsing error when calling urdf::Model initParam method
I am using ROS kinetic and Ubuntu 16.04. I am trying to use a URDF from my parameter server in a node using the following code, with this launch file: **launch file** **URDF**...
View ArticleAdding camera using Xacro
Hi I want to attach a fixed camera on my robot base in Gazebo and RViz and there are two problems with this. First of all, I can not display the camera itself (its just a box). Is there a mistake in my...
View ArticleURDF transform to world fails
Hey everyone, I am working on a project where i connect a robotiq 85 2f gripper to a ur10. I did this by making an urdf (xacro) file that describes my toplevel system. In the urdf I include the UR10...
View ArticleProblem with converting .xacro to .urdf in Windows 10 ROS
I am using the command rosrun xacro xacro.py .urdf.xacro >.urdf as well as rosrun xacro xacro --inorder .urdf.xacro >.urdf I receive an error for both commands that says xacro.py: error: expected...
View ArticleConvert XACRO to URDF on macOS?
Hello, I'm trying to use `ur10_robot.urdf.xacro` from [this](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_description/urdf) repository in...
View ArticleError converting xacro to urdf ROS Moveit!
I am trying to convert an xacro file to a urdf so I can use it in Moveit! My process is as follows: First I make a workspace: ws_moveit. Then I download the necessary robot files including the xacro...
View ArticleInvalid parameter in xacro file
I'm using ROS Melodic and Gazebo 9.9.0. I'm modifying an example that use two parameters in `wheel` macro, but when I add a third one, `pX`, it doesn't work. I have run the following command to test...
View ArticleError with xacro.py [robot_description]
Hi, I am trying to get through a tutorial "Building a Visual Robot Model with URDF from Scratch". I got a problem like this: Invalid tag: Cannot load command parameter [robot_description]: command...
View Article