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check your urdf: my case was <joint name="right_forward_steering_joint" type="continuous"> <origin xyz="-0.71499 0.65792 0.2505" rpy="1.5708 0 0" /> <parent link="base_link" /> <child link="right_forward_steering" /> <axis xyz="0 0 0" /> </joint>

the xyz axis was (0 0 0), i solved it by adding 1 in the axis of rotation so it will be <axis xyz="0 1 0" />

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check your urdf: my case was was

<joint
    name="right_forward_steering_joint"
    type="continuous">
    <origin
      xyz="-0.71499 0.65792 0.2505"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="right_forward_steering" />
    <axis
      xyz="0 0 0" />
  </joint></joint>

the xyz axis was (0 0 0), i solved it by adding 1 in the axis of rotation so it will be

<axis
      <axis xyz="0 1 0" />/>