[ros-users] New urdf_tools Package

Ugo Cupcic ugo at shadowrobot.com
Thu Sep 30 15:37:10 UTC 2010


 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 <ugo at shadowrobot.com> 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 at shadowrobot.com
>> Software Engineer  |    251 Liverpool Road |
>> need a Hand?       |    London  N1 1LX     | +44 20 7700 2487
>> http://www.shadowrobot.com/hand/              @shadowrobot
>>
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-- 
Ugo Cupcic         |  Shadow Robot Company | ugo at shadowrobot.com
Software Engineer  |    251 Liverpool Road |
need a Hand?       |    London  N1 1LX     | +44 20 7700 2487
http://www.shadowrobot.com/hand/              @shadowrobot




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