Changing tf_prefix for a gazebo plugin?
Hello all, I'm working on a gazebo simulation for multiple husky robots and I'm running into some problems with my tf tree. To set up the simulation, I'm launching each robot in a unique namespace...
View ArticleClearpath Husky customized configuration not showing up
So I followed http://wiki.ros.org/husky_bringup/Tutorials/Customize%20Husky%20Configuration. I and ended up with this file...
View Articlecreate a laser in xacro
Who can give me a simple example my_robot.xacro file that creat a robot which has a laser. I donot knoe how to add a laser and I try to use the .gazebo/models/hoyuko(model),but it is sdf,it maybe...
View ArticleCreating world file for Gazebo with xacro
I'm trying to generate random boxes in a world file for Gazebo simulator. I know how to create a model sdf, and how to include it from the world file. Now I want to create different sizes of boxes in...
View ArticleProblem with urdf_tutorial
Hi All, I am going through the urdf [tutorials](http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch) but have run into a problem. I got to Materials...
View ArticleVariable object's position in .world file- Gazebo
Hi, I would like to specify the position of an object in a scene from a text file. Let's say I want a beer at position x,y,z, > beer: x,y,z Consider the following world file which creates a ground...
View ArticleFor URDF files what alternatives to xml are there?
I find that working directly with XML is unpleasant at best. What alternatives exist for creating URDF files either graphically or otherwise? What I have found so far: - [SimMechanics to...
View ArticleHow to view xacro in graphiz
You can use urdf_to_graphiz to quickly check your URDF's links. How do you do this directly with an Xacro file? Currently, you have to directly convert it first, but this is a little clunky: rosrun...
View ArticleHow to create Omniwheel base URDF
Hello all, for my project i had to create a robotic base for manipulators equipped with the omniwheels (the same of the youbot base for example), i create the cad in Adobe Inventor and extract the stl...
View ArticleHow to use conditional includes in xacro?
Hi all! When I'm using if-conditions in xacro like the example below, the substitution macro ($(find.... )) of the xacro:include statement will be evaluated independent of the if-result causing errors...
View ArticleCalculating inertial matrix for Gazebo
I am having issues following the [tutorial](http://gazebosim.org/tutorials?tut=inertia&cat=build_robot) to calculate the inertial matrix for my [gripper](http://imgur.com/TqhzRGy)....
View ArticleComposing complex robots: xacro or static_tf_publisher?
I am composing a robot that consists of several independent parts (for example, a robot hand mounted on an arm). So far, my "assembly" procedure has been a mix of two approaches: 1. Create a single...
View ArticleWhat is wrong with my xacro file that I can't see the color of the box in...
Here is my xacro file:00 I want box to be of yellow color but I can't see in Yellow color in gazebo. How should I fix it?
View ArticleLoading SDF instead of URDF with ROS Packages (like robot_description)
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 ArticleMaking a graph of the robot links of Xacro file
Hello, I would like to know if there is a way to make a graph like [this](http://wiki.ros.org/urdf?action=AttachFile&do=get&target=graphiz.png) from a Xacro file. It is explained that it is...
View ArticleCan't use slidebar of joint_state_publisher window in Rviz
I've created a xacro file for my robot arm and successfully visualized it in Rviz with the display.launch launchfile from the urdf_tutorials package. However, i can't slide left or right with the...
View ArticleParse error when using a xacro property loaded through a yaml file.
Environment: Ubuntu 16, ROS Kinetic. I have a robot_parameters.yaml file with robot parameters: wheel_separation : 0.235 PI : 3.142 In a xacro file I have: When I do a --check-order on the xacro, I get...
View ArticleAdding revolute joint makes the wheels disappear
Hello, I am trying to create a 2 wheel mobile robot using xacro file.. I followed the tutorials when using SDF and I convert it to xacro and I have two links for the wheels and two joints of type...
View Articleros-by-example vol2. roslaunch in CH4 xacro error
*ros-by-example vol2.* *CH4 CREATING A URDF MODEL FOR YOUR ROBOT* **The command line is shown below:** $ roslaunch rbx2_description box_robot_base_only.launch **The error message is shown below:**...
View ArticleWhy there are two origin in defining xacro:macro link
Hi, I am following the tutorial about urdf. In example 08-xacro, I don't understand why when defining the xacro:macro for a link/visual tag, there are two origin tags before and after geometry tags....
View Article