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Hello,
I'm trying to simulate a pionner like this one (pionner3dx), but when I run the launch file in the package p2os_urdf. pioneer3dx_urdf.launch I get a bugged robot. The wheel is out of place. I think there is a bad definition on the swife joint. Is probably out of place.
I get he following robot in Rviz.
Paulo.
I went into the p2os and copied the pioneer3dx.urdf and I used my own launch file and I got a good result. No problem in the URDF file.
I edited pioneer3dx_body.xacro.
I changed the joint types of base_swivel_joint and swivel_hubcap_joint from continuous to fixed and it solved the same issues I had concerning the center wheel.
To check, I ran the following commands from the urdf wiki:
rosrun xacro xacro.py `rospack find p2os_urdf`/defs/pioneer3dx.xacro > pioneer3dx.urdf
check_urdf pioneer3dx.urdf
urdf_to_graphiz pioneer3dx.urdf
evince pioneer3dx.pdf
Which gave me this:
I then ran my robot and used the following commands to check the tf tree:
rosrun tf view_frames
evince frames.pdf
Which gave me this:
Checking RViz with Fixed Frame set to odom gave me this:
I'll send an email to the maintainer for the p2os repository and see if that is a good fix and have him make updates if they are.
Asked: 2015-02-23 11:26:37 -0500
Seen: 275 times
Last updated: Mar 13 '15
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