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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!

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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!

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!

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!