[ros-users] gazebo_model canonical body[world] is not the root link[shadowarm_base]!

[Ugo Cupcic]

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 <johnhsu at willowgarage.com> wrote:

> Hi Ugo,
>
> It looks like the problem is caused by the root link of the robot being
> "world".  I've patched r36726<https://code.ros.org/trac/ros-pkg/changeset/36726> 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 <ugo at shadowrobot.com> 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 <johnhsu at willowgarage.com>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" <ugo at shadowrobot.com> 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 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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>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
>
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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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