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input xacro name in xacro file

hi, i want to implement this : this of course won't work cause ${arg robot} as xacro:name is not recognized. Any way to implement this way? with the robot name as an argument? Thanks

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Texturize robot consisting of STL-files

I created robots links with CATIA exported them as STL an constructed my own robot with URDF. Now I'm able to move my little mobile robot around the world in Gazebo. Yeah. Then I mounted an Universal...

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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...

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Help 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...

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Converting 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...

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roslaunch 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...

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How 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...

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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...

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How 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...

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xacro 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...

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Xacro 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...

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Questions 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...

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'#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...

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No 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...

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The 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...

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How 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...

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Error: 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...

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XML 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...

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xacro 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...

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Arm 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...

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