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1 | initial version |
The baxter_sim_kinematics node makes a very bad assumption - all of the joints for the arm will be the only ones that begin with the strings <left right="">, rather than loading all 7 of them from a param or yaml file. Then whenever an additional joint is added that starts with <left right="">, it core dumps. Not a great design. It is a bit far down on my bug list to tackle, as it requires someone be adding a custom end effector to Baxter. As a workaround, start your joint with <l r=""> or any other string that is not "left" or "right" instead. Please open a ticket for this on Baxter_simulator if there isn't one already. Sorry for the inconvenience!
2 | No.2 Revision |
The baxter_sim_kinematics baxter_sim_kinematics
node makes a very bad assumption - all of the joints for the arm will be the only ones that begin with the strings <left right="">, <left/right>
, rather than loading all 7 of them from a param or yaml file. Then whenever an additional joint is added that starts with <left right="">, <left/right>
, it core dumps. Not a great design. It is a bit far down on my bug list to tackle, as it requires someone be adding a custom end effector to Baxter. As a workaround, start your joint with <l r=""> <l/r>
or any other string that is not "left" or "right" instead. Please open a ticket for this on Baxter_simulator baxter_simulator
if there isn't one already. Sorry for the inconvenience!
3 | No.3 Revision |
Update: I have reworked some of the logic in Baxter's simulated Position Kinematics node to prevent it from making the assumption that I mention below. You can now have additional joints on your Baxter URDF without any naming restrictions. The fix can be viewed here: https://github.com/RethinkRobotics/baxter_simulator/pull/73
Original Answer: The baxter_sim_kinematics
node makes a very bad assumption - all of the joints for the arm will be the only ones that begin with the strings <left/right>
, rather than loading all 7 of them from a param or yaml file. Then whenever an additional joint is added that starts with <left/right>
, it core dumps. Not a great design. It is a bit far down on my bug list to tackle, as it requires someone be adding a custom end effector to Baxter. As a workaround, start your joint with <l/r>
or any other string that is not "left" or "right" instead. Please open a ticket for this on baxter_simulator
if there isn't one already. Sorry for the inconvenience!
4 | No.4 Revision |
Update: Update: I have reworked some of the logic in Baxter's simulated Position Kinematics node to prevent it from making the assumption that I mention below. You can now have additional joints on your Baxter URDF without any naming restrictions. The fix can be viewed here: https://github.com/RethinkRobotics/baxter_simulator/pull/73
Original Answer: Answer: The baxter_sim_kinematics
node makes a very bad assumption - all of the joints for the arm will be the only ones that begin with the strings <left/right>
, rather than loading all 7 of them from a param or yaml file. Then whenever an additional joint is added that starts with <left/right>
, it core dumps. Not a great design. It is a bit far down on my bug list to tackle, as it requires someone be adding a custom end effector to Baxter. As a workaround, start your joint with <l/r>
or any other string that is not "left" or "right" instead. Please open a ticket for this on baxter_simulator
if there isn't one already. Sorry for the inconvenience!