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moveit urdf interactive marker wrong

I built an urdf file. After I import it in Moveit. Something strange happen, the interactive marker if far from the end effector. I chose the blue part as the end effector. image description

my urdf file:

  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

  <!--Add foot link and joint-->

  <link name="foot_link">
    <inertial>
      <mass value="2.0"/>
      <origin xyz="0.001 0 0.0105"/>
      <inertia ixx="0.30001741" ixy="0.0000153" ixz="0.00046281" iyy="0.23544531" iyz="0.0000075" izz="0.45009496"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/foot.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/foot.dae"/>
      </geometry>
    </collision>


  </link>

    <joint name="base_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 0 0"/>
            <parent link="base_link"/>
    <child link="foot_link"/>
    </joint>

  <!--Add bottom link and joint-->

  <link name="bottom_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 -0.00815 -0.03197"/>
      <inertia ixx="0.42001813" ixy="0.01595140" ixz="-0.01346958" iyy="0.2076409" iyz="-0.04424777" izz="0.3086055"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/bottom.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/bottom.dae"/>
      </geometry>
    </collision>
   </link>

 <joint name="foot_to_bottom" type="revolute">
    <origin xyz="0 0 0.03239"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-1.57080" upper="1.57080" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
    <dynamics damping="1.0"/>
    <parent link="foot_link"/>
    <child link="bottom_link"/>
  </joint>

<!--Add waist link and joint-->

  <link name="waist_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.06 -0.004"/>
      <inertia ixx="0.59406143" ixy="-0.001822" ixz="0.00029123" iyy="0.0630125" iyz="-0.01748062" izz="0.56529446"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/waist.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/waist.dae"/>
      </geometry>
    </collision>

  </link>

 <joint name="bottom_to_waist" type="revolute">
    <origin xyz="-0.06924 0 0.07845"/>
    <axis xyz="1 0 0"/>
     <limit effort="1000.0" lower="-0.52360" upper="0.52360" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
    <dynamics damping="1.0" friction="10"/>
    <parent link="bottom_link"/>
    <child link="waist_link"/>
  </joint>

<!--Add chest link and joint-->

  <link name="chest_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.06 0.130"/>
      <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/chest.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>

   <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/chest.dae"/>
      </geometry>
    </collision>

  </link>

 <joint name="waist_to_chest" type="revolute">
    <origin xyz="0.06833 -0.03263 0.00267"/>
    <axis xyz="0 1 0"/>
   <limit effort="1000.0" lower="-0.34906" upper="0.34906" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
    <dynamics damping="1.0"/>
    <parent link="waist_link"/>
    <child link="chest_link"/>
  </joint>
<!--Add neck link and joint-->


  <link name="neck_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 -0.06 0.07"/>
      <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0118666666667"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/neck.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/neck.dae"/>
      </geometry>
    </collision>

  </link>

  <joint name="chest_to_neck" type="revolute">
    <origin rpy="-0.07854 0 0" xyz="0 0.03090 0.04410"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-1.57080" upper="1.57080" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
    <dynamics damping="1.0"/>
    <parent link="chest_link"/>
    <child link="neck_link"/>
  </joint>

<!--Add head link and joint-->

  <link name="head_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0 0.124"/>
      <inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.0108506666667"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/head.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/head.dae"/>
      </geometry>
    </collision>
  </link>

   <joint name="neck_to_head" type="revolute">
    <origin xyz="-0.02290 0 0.13401"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="-0.38397" upper="0.22689" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
    <dynamics damping="1.0"/>
    <parent link="neck_link"/>
    <child link="head_link"/>
  </joint>

<!--Add eyes link and joint-->
   <link name="eyes">
    <inertial>
      <mass value="0.2"/>
      <origin rpy="0 0 0" xyz="0 0 0.0625"/>
      <inertia ixx="0.000520833333333" ixy="0" ixz="0" iyy="0.000520833333333" iyz="0" izz="0.000520833333333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.01 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.01 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
      <material name="Grey"/>
    </collision> 
  </link>
   <joint name="head_to_eyes" type="fixed">
    <origin xyz="0.02480 -0.03612 0.02691"/>
    <parent link="head_link"/>
    <child link="eyes"/>
   </joint>
</robot>

Asked by Richardaria on 2017-05-27 08:05:59 UTC

Comments

Please include at least a snippet of your urdf that shows what you think is the problem, and add a screenshot that shows what you are describing. As is, this question is too vague and we cannot help you.

Please edit your original question, and attach the screenshot.

Asked by gvdhoorn on 2017-05-28 03:08:18 UTC

I have attached the screenshot and my urdf,do you have any idea? Is there any mistakes in my urdf file? Or, should I check my configuration in the moveit setup assistant?

Asked by Richardaria on 2017-05-31 01:08:10 UTC

Answers