[ros-users] URDF -> robot_state_publisher -> TF confusion
pol.monso
pol.monso+tools at gmail.com
Tue Nov 16 19:43:46 UTC 2010
Hello Wim,
The two nodes not being connected was what I noticed too. I am using
the robot_state_publisher as showed similarly in
http://www.ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher
which I managed to get working.
If the state_publisher is supposed to automatically connect to the
joint_states topic, what could prevent it to do so?
I've discovered it is somehow related to the urdf model, since running only with
<launch>
<param name="robot_description" command="cat $(find
wam_node)/src/wamurdf/model.xml" />
<!-- <param name="robot_description" command="cat $(find
wam_node)/src/wamurdf/barrettwam_urdf/barrettwam.xml" /> -->
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="state_publisher" />
</launch>
with the robot_state_publisher tutorial model spawns the
robot_state_publisher waiting to subscribe to joint_states (checked on
rxgraph), while if I use the model I have, the robot_state_publisher
is spawned with subscriptions: none.
Since there's no error message, the model was successfully parsed and
is therefore not related at all with my code on wam_node, what could
induce that behaviour? The two models are quite different, on mine all
joints are of type fixed and rely on stl meshes. I can't see what's
the relation between the model and the state_publisher not wanting to
subscribe to joint_states.
What am I missing?
Pol Monsó
2010/11/16 Wim Meeussen [via ROS-Users]
<ml-node+1912494-678879624-268019 at n3.nabble.com>:
>>I attach my resulting rxgraph in case it helps.
>> http://ros-users.122217.n3.nabble.com/file/n1911467/Captura.png
>
> The node graph shows that the robot_state_publisher node is not
> connected to the joint_states topic. You might have a typo in your
> topic names or remappings.
>
> Wim
>
>
>
> --
> --
> Wim Meeussen
> Willow Garage Inc.
> <http://www.willowgarage.com)
> _______________________________________________
> ros-users mailing list
> [hidden email]
> https://code.ros.org/mailman/listinfo/ros-users
>
>
> ________________________________
> View message @
> http://ros-users.122217.n3.nabble.com/URDF-robot-state-publisher-TF-confusion-tp1530752p1912494.html
> To unsubscribe from URDF -> robot_state_publisher -> TF confusion, click
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>
<robot name="r2d2">
<link name="link1">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0" />
<geometry>
<cylinder radius="0.01" length=".5" />
</geometry>
<material name="gray">
<color rgba=".2 .2 .2 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.57 0 0" />
<geometry>
<cylinder radius="0.01" length=".5" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="link2">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<origin xyz="0 0 -.3" />
<geometry>
<box size=".20 .10 .8" />
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -.3" />
<geometry>
<box size=".20 .10 .8" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="joint12" type="fixed">
<origin xyz="0 .30 0" />
<parent link="link1"/>
<child link="link2"/>
</joint>
<link name="link3">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<origin xyz="0 0 -.3" />
<geometry>
<box size=".20 .10 .8" />
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -.3" />
<geometry>
<box size=".20 .10 .8" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="joint13" type="fixed">
<origin xyz="0 -.30 0" />
<parent link="link1"/>
<child link="link3"/>
</joint>
<link name="link4">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<origin xyz="0 0 -0.2" />
<geometry>
<cylinder radius=".20" length=".6"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin xyz="0 0 0.2" />
<geometry>
<cylinder radius=".20" length=".6"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="joint14" type="revolute">
<parent link="link1"/>
<child link="link4"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit upper="0" lower="-.5" effort="10" velocity="10" />
</joint>
<link name="link5">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<geometry>
<sphere radius=".4" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin/>
<geometry>
<sphere radius=".4" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="joint45" type="continuous">
<origin xyz="0 0 0.1" />
<axis xyz="0 0 1" />
<parent link="link4"/>
<child link="link5"/>
</joint>
<link name="link6">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<origin xyz="0 0 -.1" />
<geometry>
<cylinder radius=".02" length=".2" />
</geometry>
<material name="gray" />
</visual>
<collision>
<origin/>
<geometry>
<cylinder radius=".02" length=".2" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="joint56" type="prismatic">
<origin xyz=".12 0 .15" />
<axis xyz="0 0 1" />
<limit upper="0" lower="-.5" effort="10" velocity="10" />
<parent link="link5"/>
<child link="link6"/>
</joint>
<link name="link7">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<geometry>
<box size=".05 .05 .05" />
</geometry>
<material name="blue" >
<color rgba="0 0 1 1" />
</material>
</visual>
<collision>
<origin/>
<geometry>
<box size=".05 .05 .05" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="joint67" type="fixed">
<origin xyz="0 0 0" />
<parent link="link6"/>
<child link="link7"/>
</joint>
</robot>
<robot name="barrettwam">
<link name="wam0">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam0-geom">
<mesh filename="file:wam0.stl"/>
</geometry>
<material name="wam0-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam0-geom">
<mesh filename="file:wam0.stl"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="wam1">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam1-geom">
<mesh filename="file:wam1.stl"/>
</geometry>
<material name="wam1-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam1-geom">
<mesh filename="file:wam1.stl"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="wam2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam2-geom">
<mesh filename="file:wam2.stl" />
</geometry>
<material name="wam2-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam2-geom">
<mesh filename="file:wam2.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="wam3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam3-geom">
<mesh filename="file:wam3_joint_encoder.stl" />
</geometry>
<material name="wam3-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam3-geom">
<mesh filename="file:wam3_joint_encoder.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="wam4">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam4-geom">
<mesh filename="file:wam4.stl" />
</geometry>
<material name="wam4-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam4-geom">
<mesh filename="file:wam4.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="wam5">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam5-geom">
<mesh filename="file:wam5.stl" />
</geometry>
<material name="wam5-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam5-geom">
<mesh filename="file:wam5.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="wam6">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam6-geom">
<mesh filename="file:wam6.stl" />
</geometry>
<material name="wam6-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam6-geom">
<mesh filename="file:wam6.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="wam7">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam7-geom">
<mesh filename="file:wam7_280.stl" />
</geometry>
<material name="wam7-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="wam7-geom">
<mesh filename="file:wam7.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="finger0_0">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger0_0-geom">
<mesh filename="file:bh_link1.stl" />
</geometry>
<material name="finger0_0-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger0_0-geom">
<mesh filename="file:bh_link1.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="finger0_1">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger0_1-geom">
<mesh filename="file:bh_link2.stl" />
</geometry>
<material name="finger0_1-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger0_1-geom">
<mesh filename="file:bh_link2.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="finger0_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger0_1-geom">
<mesh filename="file:bh_link3.stl" />
</geometry>
<material name="finger0_1-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger0_1-geom">
<mesh filename="file:bh_link3.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="finger1_0">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger1_0-geom">
<mesh filename="file:bh_link1.stl" />
</geometry>
<material name="finger1_0-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger1_0-geom">
<mesh filename="file:bh_link1.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="finger1_1">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger1_1-geom">
<mesh filename="file:bh_link2.stl" />
</geometry>
<material name="finger1_1-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger1_1-geom">
<mesh filename="file:bh_link2.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="finger1_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger1_2-geom">
<mesh filename="file:bh_link3.stl" />
</geometry>
<material name="finger1_2-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger1_2-geom">
<mesh filename="file:bh_link3.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="finger2_1">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger2_1-geom">
<mesh filename="file:bh_link2.stl" />
</geometry>
<material name="finger2_1-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger2_1-geom">
<mesh filename="file:bh_link2.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="finger2_2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger2_2-geom">
<mesh filename="file:bh_link3.stl" />
</geometry>
<material name="finger2_2-mat">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry name="finger2_2-geom">
<mesh filename="file:bh_link3.stl" />
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="wam1" type="fixed">
<parent link="wam0"/>
<child link="wam1"/>
</joint>
<joint name="wam2" type="fixed">
<parent link="wam1"/>
<child link="wam2"/>
</joint>
<joint name="wam3" type="fixed">
<parent link="wam2"/>
<child link="wam3"/>
</joint>
<joint name="wam4" type="fixed">
<parent link="wam3"/>
<child link="wam4"/>
</joint>
<joint name="wam5" type="fixed">
<parent link="wam4"/>
<child link="wam5"/>
</joint>
<joint name="wam6" type="fixed">
<parent link="wam5"/>
<child link="wam6"/>
</joint>
<joint name="wam7" type="fixed">
<parent link="wam6"/>
<child link="wam7"/>
</joint>
<joint name="finger0_0" type="fixed">
<parent link="wam7" />
<child link="finger0_0" />
</joint>
<joint name="finger0_1" type="fixed">
<parent link="finger0_0" />
<child link="finger0_1" />
</joint>
<joint name="finger0_2" type="fixed">
<parent link="finger0_1" />
<child link="finger0_2" />
</joint>
<joint name="finger1_0" type="fixed">
<parent link="wam7" />
<child link="finger1_0" />
</joint>
<joint name="finger1_1" type="fixed">
<parent link="finger1_0" />
<child link="finger1_1" />
</joint>
<joint name="finger1_2" type="fixed">
<parent link="finger1_1" />
<child link="finger1_2" />
</joint>
<joint name="finger2_1" type="fixed">
<parent link="wam7" />
<child link="finger2_1" />
</joint>
<joint name="finger2_2" type="fixed">
<parent link="finger2_1" />
<child link="finger2_2" />
</joint>
</robot>
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