no transform to wheels
0 i created a robot description robot.urdf when it display in rviz all is shown good but there was no wheels in the rviz just the base link and sensor
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
<visual>
<geometry>
<box size="0.64 0.45 0.03"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<link name="wheel_front_left">
<visual>
<geometry>
<cylinder length="0.03" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.015"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<link name="wheel_front_right">
<visual>
<geometry>
<cylinder length="0.03" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 -0.015"/>
<material name="black"/>
</visual>
</link>
<link name="wheel_back_left">
<visual>
<geometry>
<cylinder length="0.03" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.015"/>
<material name="black"/>
</visual>
</link>
<link name="wheel_back_right">
<visual>
<geometry>
<cylinder length="0.03" radius="0.1"/>
</geometry>
<material name="black"/>
<origin rpy="0 0 0" xyz="0 0 -0.015"/>
</visual>
</link>
<link name="laser">
<visual>
<geometry>
<box size="0.06 0.28 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="green">
<color rgba="0 0.9 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_front_left" type="continuous">
<parent link="base_link"/>
<child link="wheel_front_left"/>
<origin rpy="-1.570796327 0 0" xyz="0.17 0.225 0"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_front_right" type="continuous">
<parent link="base_link"/>
<child link="wheel_front_right"/>
<origin rpy="-1.570796327 0 0" xyz="0.17 -0.225 0"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_back_left" type="continuous">
<parent link="base_link"/>
<child link="wheel_back_left"/>
<origin rpy="-1.570796327 0 0" xyz="-0.17 0.225 0"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_back_right" type="continuous">
<parent link="base_link"/>
<child link="wheel_back_right"/>
<origin rpy="-1.570796327 0 0" xyz="-0.17 -0.225 0"/>
<axis rpy="0 0 0" xyz="0 0 1"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_laser" type="fixed">
<parent link="base_link"/>
<child link="laser"/>
<origin rpy="0 0 0" xyz="0.32 0 0.04"/>
</joint>
</robot>
Asked by abdelkrim on 2018-03-02 03:36:13 UTC
Comments
Please edit your question and use the
1010button to put code samplesAsked by Delb on 2018-03-02 03:48:38 UTC
Have you get an error while displaying the model ? How do you display it ? I tried your urdf and I don't encounter any problem I have all the elements
Asked by Delb on 2018-03-02 04:01:41 UTC
use the 1010 button to put code samples what's means !! the error display in rviz : no transform from wheel to map someone comment that : The problem is that you haven't added the inertia to the links.
Asked by abdelkrim on 2018-03-02 04:30:25 UTC
Copy and past your code in your question (with all the tab and return to the line), select it and click on the
1010icon above (or press CTRL-K). It's too messy to read it. I don't have any issue visualizing your urdf in rviz, what did you set in the Fixed Frame ? (it should be base_link)Asked by Delb on 2018-03-02 05:02:51 UTC
in fixed frame when i wanna create a map i use /odom and /map in locallization and navigation
Asked by abdelkrim on 2018-03-02 05:22:40 UTC
You have to be more precise in your question, do you have an issue displaying the urdf alone or when you're trying to navigate the robot ? Which commands are you executing and what do you expect ?
Asked by Delb on 2018-03-02 05:27:17 UTC
yeah it's not display when i try mapping or to navigate
Asked by abdelkrim on 2018-03-02 05:35:11 UTC
I can't help you only with an urdf, what topics are you launching, what nodes are you executing ? ... If you have the issue "No transform from [topic] to [topic]" then the issue comes from the TF.
Asked by Delb on 2018-03-02 05:44:07 UTC
but the base_link and the laser display just the 4 wheels which doesn't
Asked by abdelkrim on 2018-03-02 05:48:56 UTC
When you
run roslaunch urdf_tutorial display.launch model:='PATH_TO_YOUR_URDF'you don't see the wheels ?Asked by Delb on 2018-03-02 05:54:44 UTC
no just the base an laser
Asked by abdelkrim on 2018-03-02 05:57:46 UTC
In the "Displays" view in rviz, Global Options->Fixed Frame what is the value ?
Asked by Delb on 2018-03-02 06:03:04 UTC
i set the fixed frame to base_link and keep the same
Asked by abdelkrim on 2018-03-02 06:21:11 UTC
That's weird, if I just copy your urdf and display it I don't have any issue so if you just launch the display.launch it should be the same result for everybody so you are not telling everything and since you're not giving any useful information I can't help you sorry.
Asked by Delb on 2018-03-02 06:28:39 UTC
i don't use urdf_tuto but using my one package and launch file
Asked by abdelkrim on 2018-03-02 06:44:42 UTC
i fixed my error i forgot to put
Asked by abdelkrim on 2018-03-06 04:26:19 UTC
Good to know you've solved your issue ! In the future, if you need help again be sure to be precise on your problem, the omission of joint state publisher node is a common and simple issue that we could have figured out way sooner if I knew exactly what you were doing.
Asked by Delb on 2018-03-06 04:36:22 UTC
okay next time thank you again :)
Asked by abdelkrim on 2018-03-06 07:39:06 UTC