joint_state_publisher not showing joint sliders for URDF
Hi there.
I'm working on a project to simulate a robot arm. I have a URDF file that I'm able to open and view in RVIZ using the following .launch file. Note: the URDF was created by the Solidworks to URDF exporter.
<launch>
<arg name="model" default="$(find arm_9)/urdf/arm_9.urdf"/>
<arg name="gui" default="true" />
<arg name="rvizconfig" default="$(find arm_9)/rviz/urdf.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>
Now the problem is that my joint controls aren't showing up in the joint_state_publisher GUI. I'm thinking this might be a problem with my URDF file but I'm just not sure. Can someone see what I'm doing wrong or missing? (URDF below)
Thanks, Marten
<robot
name="arm_9">
<link
name="base_link">
<inertial>
<origin
xyz="0.012628 -0.0010831 1.2639E-05"
rpy="0 0 0" />
<mass
value="0.04292" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_9/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_9/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="-0.0040853 0.015183 0.00048152"
rpy="0 0 0" />
<mass
value="1.032E-06" />
<inertia
ixx="1.3689E-10"
ixy="8.8115E-12"
ixz="2.8271E-13"
iyy="2.19E-11"
iyz="2.9087E-11"
izz="1.1724E-10" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_9/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_9/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0"
rpy="3.1416 0.24397 -1.5242E-17" />
<parent
link="base_link" />
<child
link="link1" />
<axis
xyz="0 1 0" />
<limit
lower="1.5707"
upper="1.5707"
effort="0"
velocity="0" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="7.15019130346397E-18 -0.00107933891070364 0.0398728855217944"
rpy="0 0 0" />
<mass
value="0.0858412346403649" />
<inertia
ixx="6.37185065847932E-05"
ixy="2.71577475637228E-23"
ixz="-2.95580748526777E-08"
iyy="6.37186641971459E-05"
iyz="-9.21422603035335E-18"
izz="1.58951413447898E-10" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_9/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://arm_9/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0.042734 0"
rpy="-1.5708 0.24397 7.0515E-17" />
<parent
link="link1" />
<child
link="link2 ...