Could not parse visual element for Link
I have created a model on solidworks, exproted it as urdf and tried to open it on rviz. I am only able to view coordinates/axes defined but not the model of the bot. The error shown is Could not parse visual element for Link. It would be really helpful if someone could tell me what's happening.
Following is my urdf file:
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: Build Version: 1.5.7206.24265
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="Demo">
<link
name="base_link">
<inertial>
<origin
xyz="-0.0077373 -6.6915E-19 -3.3977E-18"
rpy="0 0 0" />
<mass
value="0.31646" />
<inertia
ixx="0.00034005"
ixy="-1.1265E-20"
ixz="3.055E-21"
iyy="0.00059318"
iyz="1.8962E-20"
izz="0.00089832" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!--mesh
filename="package://Demo/meshes/base_link.STL" /-->
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!--mesh
filename="package://Demo/meshes/base_link.STL" /-->
</geometry>
</collision>
</link>
<link
name="Left_Link">
<inertial>
<origin
xyz="0 -6.55680257364447E-18 5.25656200528607E-05"
rpy="0 0 0" />
<mass
value="0.115047931558291" />
<inertia
ixx="4.82054529818887E-05"
ixy="1.70040976665436E-22"
ixz="3.940914757303E-21"
iyy="4.82054529818887E-05"
iyz="-3.21933703938061E-21"
izz="8.40625924016073E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!--mesh
filename="package://Demo/meshes/Left_Link.STL" /-->
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!--mesh
filename="package://Demo/meshes/Left_Link.STL" /-->
</geometry>
</collision>
</link>
<joint
name="Joint_L"
type="continuous">
<origin
xyz="-0.0508 -0.0635 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="Left_Link" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Right_Link">
<inertial>
<origin
xyz="-6.93889390390723E-18 8.20187224527899E-37 -5.25656200528607E-05"
rpy="0 0 0" />
<mass
value="0.115047931558291" />
<inertia
ixx="4.82054529818887E-05"
ixy="1.45849255388388E-39"
ixz="4.2633042902375E-23"
iyy="4.82054529818887E-05"
iyz="-1.09254676959259E-37"
izz="8.40625924016072E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!--mesh
filename="package://Demo/meshes/Right_Link.STL" /-->
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!--mesh
filename="package://Demo/meshes/Right_Link.STL" /-->
</geometry>
</collision>
</link>
<joint
name="Joint_R"
type="continuous">
<origin
xyz="-0.0508 0.0635 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="Right_Link" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Front_Link">
<inertial>
<origin
xyz="6.93889390390723E-18 -2.90246390105343E-52 -9.30082479248467E-19"
rpy="0 0 0" />
<mass
value="0.113838418386658" />
<inertia
ixx="4.81440695773423E-05"
ixy="9.5234746199028E-41"
ixz="-4.45764823004959E-38"
iyy="4.81440695773423E-05"
iyz="-1.10176868828763E-37"
izz="8.40474734869618E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!--mesh
filename="package://Demo/meshes/Front_Link.STL" /-->
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!--mesh
filename="package://Demo/meshes/Front_Link.STL" /-->
</geometry>
</collision>
</link>
<joint
name="Joint_F"
type="continuous">
<origin
xyz="0.0508 0 0"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="Front_Link" />
<axis
xyz="0 0 1" />
</joint>
</robot>
Thank You in advance
Asked by Soundharya on 2019-09-25 07:13:58 UTC
Comments
Sorry for the mess Im not able upload the urdf file nor an image of the urdf file
Asked by Soundharya on 2019-09-25 07:26:24 UTC
All the
mesh
sub elements of yourgeometry
elements are commented out. That could be the problem here.Asked by gvdhoorn on 2019-09-25 07:46:08 UTC