Ask Your Question

Changing link name causes parse error

asked 2016-09-17 20:47:07 -0600

not_a_robot gravatar image

I'm trying to follow the beginner's tutorial shown here:

For some reason, if I change the name of a link—e.g., from "right_leg" to "leg"—I get a urdf parse error. The error goes away as soon as I revert the link names to their original values. No idea why this is happening—or why it should ever. It seems that link names should be anything we deem suitable?

I'm running ros with rviz hydro on a VirtualBox virtual machine.


edit retag flag offensive close merge delete


What are you trying to run from the tutorial when this error occurs? Also, what is the error message?

Sounds like something else running is depending on this name, not a URDF error, because link names are allowed to change.

JoshMarino gravatar imageJoshMarino ( 2016-09-17 22:55:13 -0600 )edit

1 Answer

Sort by » oldest newest most voted

answered 2016-09-18 02:47:12 -0600

gvdhoorn gravatar image

Without seeing the actual error this is a bit of a guess, but:

You can name links any way you want (as long as you take care to follow the ROS naming conventions), but as @JoshMarino writes, you'll have to keep track of where those links are used and update those references as well.

Links in a urdf can be parents and children in joints fi, and the urdf parser will not be able to construct a tree for you if either of those doesn't resolve to a known link.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools


Asked: 2016-09-17 20:47:07 -0600

Seen: 28 times

Last updated: Sep 18 '16