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Making a graph of the robot links of Xacro file

asked 2016-07-06 03:25:55 -0500

Laurens Verhulst gravatar image

updated 2016-07-06 08:14:21 -0500

Hello,

I would like to know if there is a way to make a graph like this from a Xacro file. It is explained that it is possible from URDF with the URDF_to_graphiz. However, it doesn't work with Xacro.

I tried converting it to a URDF file, but that left me with nothing but transmissions from ROS control. Is there any way that is it possible?

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answered 2016-07-06 08:32:42 -0500

gvdhoorn gravatar image

updated 2016-07-06 08:35:09 -0500

It is explained that it is possible from URDF with the URDF_to_graphiz. However, it doesn't work with Xacro.

Well, yes. Xacro is not urdf. They somewhat relate to each other as classes and objects do in say C++: you have to create instances of your classes to get an object.

I tried converting it to a URDF file, but that left me with nothing but transmissions from ROS control

this suggests you tried to convert the wrong .xacro file. You have to convert a 'top-level' xacro (ie: the one instantiating all the macros), or it won't work.

If you can give a little more detail (which .xacro are you trying to convert, how did you do it, command line(s) etc), we might be able to help you.

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Ok, it's clear where I screwed up. I didn't convert the top-level xacro file. Instead I used the lower level one.

Laurens Verhulst gravatar image Laurens Verhulst  ( 2016-07-06 08:49:35 -0500 )edit
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answered 2020-02-25 09:12:08 -0500

krablander gravatar image

I have a similar issue. When using urdf_to_graphiz function it sais there are no link elements found, even with the toplevel xacro. I don't know how to fix this.

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Asked: 2016-07-06 03:25:55 -0500

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Last updated: Feb 25