Patrick, > Thanks to Mike Ferguson who pointed me to the ChangeList > (http://www.ros.org/wiki/robot_model/ChangeList) on the ROS Wiki that > allowed me to answer my own question--yes, the URDF package has been > reorganized in Electric (beta) and check_urdf is now in urdf_parser. This is actually a "bug", the user experience when working with the urdf package should not have changed. The re-organization of the robot_model stack was done to support parsing of both URDf and COLLADA files into a urdf object. This means you can use your existing urdf-based code and feed it either URDF or COLLADA files. I re-added the check_urdf tool in the urdf stack; the tool now supports both URDF and COLLADA files, and will go out in the next release. Hope this didn't cause too much inconvenience. Wim -- -- Wim Meeussen Willow Garage Inc.