Could you please modify the NXT ROS wiki tutorial page accordingly? I also had the same problem but I had to move on so skipped this step but would like to get back to it sometime.
Bence Magyar ( 2012-03-28 03:49:25 -0500 )edit
Today I've downloaded the Lego Digital Designer from the Lego website and then generated some designs. When I exported the .lxf and .ldr files and proceeded to convert them to .urdf using the lxf2urdf converter I got this message:
Unable to handle 'robot.lxf': 89
I also tried re-generating the urdf files with the lxf/ldf files that come with the nxt_robots_* packages and everything went fine, but if I open and save/export them with LDD (without making any changes) then I also have a similar error message.
Note that in the example above #89 is the link that the converter can't handle, but I noticed that that link doesn't seem to exist, and I checked that the latest (... 86, 87, 88) links generated match with the latest lines at the .ldr file and also with the latest bricks I added with the designer.
So I think it's just that the folks at Lego have updated the .lxf format and the lxf2urdf parser just can't understand the ending of the file... This is really a problem because the urdf generated doesn't have any joints, just links :(
Until someone updates it, anyone knows which version of the LDD works (if any)?
I'd try to upload tomorrow the .lxf file that I've designed in case someone wants to try it (and maybe give me the proper .urdf file :P)
Thanks!
Miguel.
Update: Here are the files! Could anyone try them?
robot.lxf
robot.ldr
robot.urdf
Update: I think now I know what's wrong. When I use the wide rims to build a robot they are not exported to the .ldr file. Actually, if I build a robot with these wide rims LDD will generate an empty (WTF!?) .ldr file... Because of this, lxf2urdf doesn't recognize the bricks and fails to convert the model. I don't know why this happens, but I'm out of ideas. I tried with the latest LDD version (4.2.something), with 4.0 and with 3.1.
I solved this by replacing the "ldraw.xml" file that comes with the LDD software with the one hosted here. Apparently the original file is outdated.
This seems to solve the problem :)
Could you please modify the NXT ROS wiki tutorial page accordingly? I also had the same problem but I had to move on so skipped this step but would like to get back to it sometime.
Bence Magyar ( 2012-03-28 03:49:25 -0500 )editI haven't played with that part of the toolchain personally so I don't have insight into it. But I believe there's a limited set of parts for which we have cad models available for that script. You may be using a part outside that set.
Thanks for your reply, @tfoote! Maybe I didn't express myself... It's not a problem of the lxf2urdf, because the LDD doesn't export the right .ldr file, and it's not a problem of the set of parts either, because both the nxt_robot_gyro_car and the nxt_robot_sensor_car use the same rims as I do...
Capelare ( 2012-03-23 06:25:22 -0500 )editI think that it may have something to do with the version of the LDD software but I tried 4 different versions without luck, so I was hoping that someone could tell me which version works for sure. Or maybe... could you pass this link to whoever developed the converter? Thanks again! :)
Capelare ( 2012-03-23 06:31:18 -0500 )editAsked: 2012-03-20 22:01:19 -0500
Seen: 364 times
Last updated: Mar 27 '12
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
