moveit urdf interactive marker wrong

asked 2017-05-27 08:05:59 -0600

Richardaria gravatar image

updated 2017-05-31 01:10:22 -0600

I built an urdf file. After I import it in Moveit. Something strange happen, the interactive marker if far from the end effector. I chose the blue part as the end effector. image description

my urdf file:

  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>

  <!--Add foot link and joint-->

  <link name="foot_link">
    <inertial>
      <mass value="2.0"/>
      <origin xyz="0.001 0 0.0105"/>
      <inertia ixx="0.30001741" ixy="0.0000153" ixz="0.00046281" iyy="0.23544531" iyz="0.0000075" izz="0.45009496"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/foot.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/foot.dae"/>
      </geometry>
    </collision>


  </link>

    <joint name="base_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 0 0"/>
            <parent link="base_link"/>
    <child link="foot_link"/>
    </joint>

  <!--Add bottom link and joint-->

  <link name="bottom_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 -0.00815 -0.03197"/>
      <inertia ixx="0.42001813" ixy="0.01595140" ixz="-0.01346958" iyy="0.2076409" iyz="-0.04424777" izz="0.3086055"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/bottom.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/bottom.dae"/>
      </geometry>
    </collision>
   </link>

 <joint name="foot_to_bottom" type="revolute">
    <origin xyz="0 0 0.03239"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-1.57080" upper="1.57080" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
    <dynamics damping="1.0"/>
    <parent link="foot_link"/>
    <child link="bottom_link"/>
  </joint>

<!--Add waist link and joint-->

  <link name="waist_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.06 -0.004"/>
      <inertia ixx="0.59406143" ixy="-0.001822" ixz="0.00029123" iyy="0.0630125" iyz="-0.01748062" izz="0.56529446"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/waist.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>


    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://apollo_description/meshes/model/waist.dae"/>
      </geometry>
    </collision>

  </link>

 <joint name="bottom_to_waist" type="revolute">
    <origin xyz="-0.06924 0 0.07845"/>
    <axis xyz="1 0 0"/>
     <limit effort="1000.0" lower="-0.52360" upper="0.52360" velocity="0.5"/>
    <safety_controller k_position="30" k_velocity="30" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
    <dynamics damping="1.0" friction="10"/>
    <parent link="bottom_link"/>
    <child link="waist_link"/>
  </joint>

<!--Add chest link and joint-->

  <link name="chest_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.06 0.130 ...
(more)
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Comments

Please include at least a snippet of your urdf that shows what you think is the problem, and add a screenshot that shows what you are describing. As is, this question is too vague and we cannot help you.

Please edit your original question, and attach the screenshot.

gvdhoorn gravatar imagegvdhoorn ( 2017-05-28 03:08:18 -0600 )edit

I have attached the screenshot and my urdf,do you have any idea? Is there any mistakes in my urdf file? Or, should I check my configuration in the moveit setup assistant?

Richardaria gravatar imageRichardaria ( 2017-05-31 01:08:10 -0600 )edit