Ok, thanks for your answer. I used urdf_xml as it was the specified parameter on the wiki http://www.ros.org/wiki/arm_kinematics Cheers, Ugo On 30/09/10 16:33, David Lu!! wrote: > I'm guessing here, but it looks like you're loading the URDF into the > parameter called urdf_xml. You should load it into robot_description, > and it should work as usual. > > I forget where I borrowed this convention from, but the idea was to > allow you to specify which parameter to read the urdf from. So if you > normally load the URDF into hand_description, then you could set > urdf_xml to hand_description, and then it would load hand_description > instead of robot_description. > > -David!! > > On Thu, Sep 30, 2010 at 9:40 AM, Ugo Cupcic wrote: >> 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 >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- 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