How append a new plugin to Gazebo from a different package?

asked 2011-10-07 02:19:33 -0500

70 ●14 ●18 ●25 http://www.linkedin.co...

Hello All: My name is Ivan, I'm working on a project with ROS and Gazebo. but I have the following problem:

I have a package (wam_description) where is the file urdf the robot, and in another package I created the plugin for gazebo (wam_gazebo), where I have a library and a small urdf where where ls declare variables for use in the plugin (and all, obviously, within the label <gazebo>)

My question is how I can tell the plugin Gazebo to use?, Before I had no problems and it was all in one package, but now we defragmented the packet and do not know how to solve the problem

Thanks for your time

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answered 2011-10-10 20:58:37 -0500

Martin Günther

11816 ●82 ●159 ●198 https://www.dfki.de/en...

@DimitriProsser is right, but you need to use xacro for this to work. Your urdf file should look like this (let's say it's called wam_description/wam.urdf.xacro):

<robot
  xmlns:xacro="http://ros.org/wiki/xacro"
  name="wam">

  <include filename="$(find wam_gazebo)/urdf/your_file.urdf" />
</robot>

Now you can load the URDF file into the robot_description parameter using this launch file:

<launch>
    <param name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/wam.urdf.xacro'" />
</launch>

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That's right, I forgot that xacro is needed. Thanks for catching that error.

DimitriProsser ( 2011-10-11 01:13:54 -0500 )edit

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answered 2011-10-07 04:23:09 -0500

DimitriProsser

11163 ●79 ●116 ●169

In the main urdf file, use the following line to include your <gazebo> tags and information:

<include filename="$(find wam_gazebo)/urdf/your_file.urdf" />

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answered 2011-10-12 23:10:54 -0500

Ivan Rojas Jofre

70 ●14 ●18 ●25 http://www.linkedin.co...

updated 2011-10-13 22:52:12 -0500

Martin Günther

11816 ●82 ●159 ●198 https://www.dfki.de/en...

Thanks Martin for your answer.

I have a handmade urdf file,But I made a xacro file and I must have something wrong because it does not work. throw an error when you run this:

<param name="robot_description" coomand="$(find xacro)/xacro.py '$(find iri_wam_description)/ xacro/wam.urdf.xacro'"

Could you help me ,please?

The error is:

irojas@iri103:~$ roslaunch iri_wam_gazebo iri_wam_gazebo.launch  ... logging to /home/irojas/.ros/log/752610e6-f58b-11e0-ac95-00219b18a57a/roslaunch-iri103-12665.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):   File "/opt/ros/electric/stacks/xacro/xacro.py", line 35, in <module>
    xacro.main()   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 558, in main
    eval_self_contained(doc)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 499, in eval_self_contained
    eval_all(doc.documentElement, macros, symbols)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 452, in eval_all
    eval_all(body, macros, scoped)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 437, in eval_all
    eval_all(cloned, macros, symbols)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 452, in eval_all
    eval_all(body, macros, scoped)   File "/opt/ros/electric/stacks/xacro/src/xacro.py", line 451, in eval_all
    str(node.tagName)) xacro.XacroException: Some parameters were not set for macro visual 
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/electric/stacks/xacro/xacro.py '/home/irojas/ros/iri-ros-pkg/trunk/stacks/iri_wam/iri_wam_description/xacro/wam.urdf.xacro'] returned with code [1]. 

Param xml is <param command="$(find xacro)/xacro.py '$(find iri_wam_description)/xacro/wam.urdf.xacro'" name="robot_description"/>

Thanks For All!!!

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Xacro told you precisely what the error is: "Some parameters were not set for macro visual". Your URDF is invalid. Consult the URDF reference: http://www.ros.org/wiki/urdf/XML/Link and make sure that all visual tags have all missing elements.