Hi John, Thanks a lot for the patch. It works well. I think I'll get rid of the world root in my model anyway as it's an old remain of a previous gazebo model and it's not necessary anymore. Cheers, Ugo On Sat, May 7, 2011 at 4:43 AM, John Hsu wrote: > Hi Ugo, > > It looks like the problem is caused by the root link of the robot being > "world". I've patched r36726 to > deal with this case. Please let me know if the patch fixes your problem. > > Thanks, > John > > > > On Fri, May 6, 2011 at 2:39 PM, Ugo Cupcic wrote: > >> Hi John, >> >> Sorry I'm now at home and I don't have access to my code, so I don't have >> the exact lines I wrote. >> >> Anyway I filled the message with the following: >> model_name = "arm_and_hand" >> test_urdf_param_name = "robot_description" (which is the parameter under >> which the urdf is loaded) >> >> joint_names = ["ElbowJSwing"] >> joint_positions = [1.5] >> >> You can have a look at the urdf here: >> >> http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface/trunk/view/head:/shadow_robot/sr_hand/model/robots/arm_and_hand_motor.urdf >> >> Cheers, >> >> Ugo >> >> On Fri, May 6, 2011 at 7:22 PM, John Hsu wrote: >> >>> Hi Ugo, >>> can you show how the service message is filled out and the shadow urdf? >>> thanks, >>> John >>> On May 6, 2011 9:43 AM, "Ugo Cupcic" wrote: >>> > Hi, >>> > >>> > I'm trying to use the /gazebo/set_model_configuration service to set a >>> > starting pause for my arm (as suggested here: >>> > http://answers.ros.org/question/857/set-revolute-joint-start-angle). >>> > >>> > I'm getting the following error: >>> > gazebo_model canonical body[world] is not the root >>> link[shadowarm_base]! >>> > >>> > When I spawn my model, I'm specifying world as the reference_frame >>> though. >>> > (rosrun gazebo spawn_model -urdf -param robot_description -model >>> > arm_and_hand -reference_frame world) >>> > >>> > Any help greatly appreciated. >>> > >>> > Cheers, >>> > >>> > Ugo >>> > >>> > -- >>> > 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 >>> >>> >> >> >> -- >> 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