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Why there are two origin in defining xacro:macro link

asked 2016-11-03 06:02:35 -0500

Thang Nguyen gravatar image

Hi, I am following the tutorial about urdf. In example 08-xacro, I don't understand why when defining the xacro:macro for a link/visual tag, there are two origin tags before and after geometry tags.

  <visual>
    <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
    <geometry>
      <cylinder radius="${wheeldiam/2}" length="0.1"/>
    </geometry>
    <material name="black"/>
    <origin xyz="0 0 0" rpy="0 0 0" />
  </visual>

Thank you very much for your help.

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answered 2016-11-03 06:10:01 -0500

mgruhler gravatar image

Having two origin tags does definitely not make any sense. This is wrong.

Can you link to the tutorial with this error? I didn't find it.

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Comments

Here you are xacro link

Thang Nguyen gravatar image Thang Nguyen  ( 2016-11-03 06:50:37 -0500 )edit

This is wrong. I have reported it here: https://github.com/ros/urdf_tutorial/...

David Lu gravatar image David Lu  ( 2016-11-03 09:48:18 -0500 )edit

thanks @David Lu

mgruhler gravatar image mgruhler  ( 2016-11-03 09:49:15 -0500 )edit

Fixed on Master.

David Lu gravatar image David Lu  ( 2016-11-11 14:42:01 -0500 )edit

Thanks for updating. Can you put this as answer so I can mark question is answered?

Thang Nguyen gravatar image Thang Nguyen  ( 2016-11-11 15:06:38 -0500 )edit

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Asked: 2016-11-03 06:02:35 -0500

Seen: 109 times

Last updated: Nov 03 '16