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No root joint specified. Assuming fixed joint, moveit

asked 2014-05-14 23:49:51 -0600

rvijay gravatar image

updated 2015-04-24 01:49:30 -0600

gvdhoorn gravatar image

Hi, I am importing a 6 DOF arm using setupAssistant. When I load the urdf for the robotic arm, all the parts of the robotic arm are at the same plane. It shows a message "No root joint specified. Assuming fixed joint".

I searched in other threads and came across that there is some information to be added in the SRDF file. Since I have generated the URDF from Solidworks, so please tell where should I create a SRDF for the same and whether we have to load the URDF or the SRDF of the robot to fix this.

Here are the console logs:

[ INFO] [1400146129.617803918]: Loaded robot robot model.
[ INFO] [1400146129.618207340]: Setting Param Server with Robot Description
[ INFO] [1400146129.632349428]: Robot semantic model successfully loaded.
[ INFO] [1400146129.632505515]: Setting Param Server with Robot Semantic Description
[ INFO] [1400146129.664284638]: Loading robot model 'robot'...
[ INFO] [1400146129.664376122]: No root joint specified. Assuming fixed joint
[ INFO] [1400146130.118231108]: Stereo is NOT SUPPORTED
[ INFO] [1400146130.118454828]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1400146130.830133313]: Loading robot model 'robot'...
[ INFO] [1400146130.830429200]: No root joint specified. Assuming fixed joint
[ INFO] [1400146131.398639691]: Loading robot model 'robot'...
[ INFO] [1400146131.398745909]: No root joint specified. Assuming fixed joint
[ INFO] [1400146131.688112326]: Loading Setup Assistant Complete
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hello I get the same proplem, can you tell me ,how sovle it.

clark_txh gravatar imageclark_txh ( 2016-09-30 04:51:05 -0600 )edit

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answered 2015-04-23 23:59:20 -0600

130s gravatar image

updated 2015-04-24 04:05:59 -0600

Strange as it may sound, when running in debug mode using gdb worked around the issue for a person I was helping.

$ roslaunch moveit_setup_assistant setup_assistant.launch debug:=true
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You did not get the message No root joint .. when running the Setup Assistant in gdb?

gvdhoorn gravatar imagegvdhoorn ( 2015-04-24 02:06:01 -0600 )edit

Not that I know of (this was happening on someone else' computer I was helping).

130s gravatar image130s ( 2015-04-24 04:06:59 -0600 )edit
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That sounds rather strange: the message essentially tells you that there is no joint connecting base_link to the 'world' (however that is defined). Running in gdb or not should not affect this.

gvdhoorn gravatar imagegvdhoorn ( 2015-04-24 04:25:36 -0600 )edit

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Asked: 2014-05-14 23:49:51 -0600

Seen: 2,371 times

Last updated: Apr 24 '15