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Thanks guys I solved the problem! The Launch command was not working because I did not give the command to read the current directory, where the launch file were located. So I typed $ roscd mastering_ros_robot_description..." and later "cd urdf", then as an input I typed check pan_tilt_urdf....finally the check step was a succes! Later I entered with the command roslaunch in the directory launch...so the robot I have described in gedit.urdf appeared finally in RViz.... I am very happy, because I am new in using ROS. But now I have a doubt, several of you have suggested to me using the command "deverl/setup.bash", for what reasons are these commands used? Now I am facing a new problem, if you could help me, so I will be grateful! The problem is the following. I have constructed the robot not in URFD but in XACRO....so the tutorial says me to convert the Xacro in Urdf extension....well I tried but so the following error message appears to me on the terminal: xacro:

"Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order"

So, I have clicked in the link, I have read the topics and later I tried the command "rosrun xacro xacro.py --inorder pan_tilt.xacro > pan_tilt_generated.urdf" instead the original command suggested by the book "rosrun xacro xacro.py pan_tilt.xacro > pan_tilt_generated.urdf" This last command was the command that generated the error depicted above, and the first command also didn't give me a correct feedback, in other words, the xacro was not converted again in urdf.

Could someone explain me what is happening? I am not understanding...

Thanks!