Hey,

Thanks for the useful tools!

Is there any requirements concerning the urdf to provide the
arm_kinematics package?

I'm trying to use it for our arm and every time I'm trying to load the
model, it just tells me:
[FATAL] [1285854990.845924280]: Could not load the xml from parameter
server:
--- and prints the full urdf model here.
---

Changing the beginning of the init() method like this solved the
problem. Any ideas?

bool Kinematics::init() {
    // Get URDF XML
    std::string urdf_xml, full_urdf_xml;

    std::string result;
    nh.param("urdf_xml",result,std::string("robot_description"));
    /*
    nh.searchParam(urdf_xml,full_urdf_xml);
    ROS_DEBUG("Reading xml file from parameter server");
    std::string result;
    if (!nh.getParam(full_urdf_xml, result)) {
        ROS_FATAL("Could not load the xml from parameter server: %s",
urdf_xml.c_str());
        return false;
    }
    */


Cheers,

Ugo

On 29/09/10 20:02, Wim Meeussen wrote:
>> Thank you for creating these tools!  I am sure they will come in handy in
>> lots of situations.
>>
>> Might I suggest renaming joint_controller to joint_state_publisher or
>> fake_joint_state_publisher?  Also, is easy_state_publisher is a special case
>> of joint_controller?
> I really like the idea of the joint_state_publisher gui, it makes
> visualizing and debugging a urdf file much easier. This would even
> allow you to use rviz to debug a urdf file. This is something we
> should absorb into the robot_model stack (we'll have to look into the
> dependencies).
>
> For the easy_state_publisher, I'd think that if we give the new
> joint_state_publisher the ability to run without a gui, it would be
> possible to run it in combination with the current
> robot_state_publisher offers the same (and much more!) functionality.
> What do you think?
>
> Wim
>
>

-- 
Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com
Software Engineer  |    251 Liverpool Road |
need a Hand?       |    London  N1 1LX     | +44 20 7700 2487
http://www.shadowrobot.com/hand/              @shadowrobot