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how change fixed joint to revolute joint in URDF ? [closed]

asked 2016-12-17 01:44:54 -0500

zakizadeh gravatar image

updated 2016-12-17 02:09:00 -0500

hi . i have urdf file that i export from solidworks using sw_urdf_exporter. but all joints are fixed !! i have fixed joint like this :

 <joint name="joint_U17_1"   type="fixed">
    <origin  xyz="0.07175 0 0"   rpy="1.57079642071591 -1.56033165440561E-10 -3.14159263868863" />
    <parent  link="link_U4_1" />
    <child   link="link_U17_1" />
    <axis  xyz="0 0 0" />
  </joint>

i want this joint to be revolute joint . i changed my urdf file like this :

<joint  name="joint_U17_1"  type="revolute">
    <origin    xyz="0.07175 0 0"   rpy="1.57079642071591 -1.56033165440561E-10 -3.14159263868863" />
    <parent   link="link_U4_1" />
    <child   link="link_U17_1" />
    <axis   xyz="0 0 0" />
 <limit effort="1.0" lower="-2.53" upper="2.53" velocity="1.571"/>
  </joint>

but i have this error and Rviz show links that connected to this joint in other place:

[ERROR] [1481959999.299028146]: Ignoring transform for child_frame_id "link_U17_1" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
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Closed for the following reason duplicate question by zakizadeh
close date 2016-12-17 22:56:32.543857

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answered 2016-12-17 09:05:17 -0500

gvdhoorn gravatar image

This is a duplicate of error in revolute joints in RViz.

Could you please not post duplicates of questions? It will not increase your chances of getting answers.

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Asked: 2016-12-17 01:44:54 -0500

Seen: 919 times

Last updated: Dec 17 '16