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URDF has inertia specified, apparently, but I can't find where.

asked 2016-03-01 21:56:29 -0500

jhoban gravatar image

updated 2016-03-02 02:45:21 -0500

gvdhoorn gravatar image

Hi,

Am currently getting the following warning which I think is the cause of UWSim crashing if challenged by anything more than loading:

The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

I've gone looking through the .xml files and I've looked around on the internet, and though a lot of people seem to talk about this warning I have found no solutions. I am working from the default cirs.xml for UWSim inside ROS Indigo.

Does anyone have suggestions to fix this problem? Is it ROS or UWSim?

Thanks if anyone does have a solution.

Janet

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answered 2016-03-02 05:08:47 -0500

Javier Perez gravatar image

Hi Janet,

This warning is only saying KDL does not support root links with inertia. But UWSim only uses KDL to publish the TF tree using the URDF provided to build the robot. The robot is NOT simulated through KDL so that is the reason the warning can safely ignored. I tried to find a way to hide it, but I didn't find it. In the case of UWSim is used for simulated force sensor that, obviously, need a mass to produce a simulated force, if there are no force sensors can be safely removed from URDF.

If you are experimenting a crash it should have another cause. If you provide us more information about the crash maybe we can help you ;).

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Crash info...well it's booting up any of the scenes without problem and the C++ program for the joystick interface compiles with no errors, but any movement of the joystick after booting has completed results in the simulator crashing and closing down.

jhoban gravatar imagejhoban ( 2016-03-02 05:57:21 -0500 )edit

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Asked: 2016-03-01 21:56:29 -0500

Seen: 713 times

Last updated: Mar 02 '16