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Hi Egiljones

thank you for your reply. I did export my stl files from solidworks. You are right after I changed its prepend from "solid" to robot. I do not have warning any more. But the problem is it crushed my rviz. please see the following bug log. I am not professional programmer and could not deal with this bug. So I just keep the old stl file at this point since it just a warning.

rviz: /tmp/buildd/ros-electric-visualization-common-1.6.2/debian/ros-electric-visualization-common/opt/ros/electric/stacks/visualization_common/ogre/build/ogre_src_v1-7-3/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
[rviz-2] process has died [pid 9376, exit code -6].
log files: /home/jding/.ros/log/5651c8f4-f92d-11e0-b8a3-842b2bbc5e1e/rviz-2*.log

I also added joint limits to my urdf file. <limit lower="0.0" upper="0.385" velocity="0.1" effort="1"/> But it was not loaded by planning_description_configuration_wizard. Do you know where I probably mess up the joint limits? thanks a lot.