[ros-users] urdf "could not compute link poses" error

[Yeon Grace Lee]

Hi Morgan,

Adding an extra link and a joint fixed the problem. Thank you so much!!

~Grace

On Tue, Jun 22, 2010 at 10:05 AM, Morgan Quigley
<mquigley at cs.stanford.edu> wrote:
> Hi Grace,
>
> I came across something similar last week. In my case, adding a third
> link "fixed it," (i.e, 2 joints, 3 links), since an error check inside
> the state publisher was failing if there were only two resulting
> transforms.
>
> -Morgan
>
>
>
> On Tue, Jun 22, 2010 at 9:54 AM,  <yeongrace.lee at gmail.com> wrote:
>> Hi everyone,
>>
>> My name is Grace Lee and I am an undergraduate research assistant at USC's
>> Interaction Lab. I am currently writing a urdf for a human model that will
>> be interacting with PR2 in the gazebo. When I run the command "roslaunch" on
>> my launch file, I get this error: [ERROR] 1277225053.038870000: Could not
>> compute link poses. The tree or the state is invalid.
>>
>> I have parsed the urdf and the tree structure seems correct - i.e. $ rosrun
>> urdf check_urdf [my_urdf_name].xml shows that there is one child (which is
>> correct btw). The urdf and the state_publisher.cpp seems to be correct as
>> well. Any insights into the source of this problem would be greatly
>> appreciated.
>>
>> Sincerely,
>>
>> Grace Lee
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>>
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