ROS kinetic mesh error

asked 2018-06-07 06:36:38 -0600

pawlas gravatar image

updated 2018-06-07 13:27:09 -0600

jayess gravatar image

Hi I'm trying to create a hand model in Rviz but when I'm trying to launch my hand model, terminal shows error but my robot model has been launched without mesh

error:

 [joint_state_publisher-1] process has died [pid 23769, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/misiek/.ros/log/f283dd5c-6a41-11e8-bf9c-000c2952c6a7/joint_state_publisher-1.log].
log file: /home/misiek/.ros/log/f283dd5c-6a41-11e8-bf9c-000c2952c6a7/joint_state_publisher-1*.log

my urdf code:

<?xml version="1.0" ?>

<robot name="avena_hand_description" xmlns:xacro="http://www.ros.org/wiki/xacro">

<material name="grey">
    <color rgba="0.75 0.75 0.75 1"/>
</material>

<!------------------------------------------------------------------------------------> 
<!------------------------------------------------------------------------------------>

<link name="hand">
  <visual>
  <origin xyz="0 0 0" rpy="1.5708 1.5708 0" />
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/hand.dae"/>
  </geometry>
  </visual>
</link>

<!------------------------------------------------------------------------------------>
<!------------------------------------------------------------------------------------>

<link name="finger_middle_right">
  <visual>
    <origin xyz="0.01 -0.022 0.142" rpy="3.1416  0.212 0"/>
    <geometry>
      <mesh filename="package://avena_hand_description/models/hand/meshes/finger_middle.dae"/>
    </geometry>
  </visual>
</link>

<gazebo reference="finger_middle_right">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="right_finger_1" type="revolute">
  <parent link="hand"/>
  <child link="finger_middle_right"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 -0.212"/>
</joint>

<link name="finger_end_right">
  <visual>
  <origin rpy="3.1416  0.212 0" xyz="0.021 -0.022 0.193"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/finger_end.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="finger_end_right">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="right_finger_2" type="revolute">
  <parent link="finger_middle_right"/>
  <child link="finger_end_right"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 -0.212"/>
</joint>

<!------------------------------------------------------------------------------------>

<link name="finger_middle_middle">
  <visual>
  <origin rpy="3.1416 0 0" xyz="-0.029 -0.022 0.13"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/finger_middle.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="finger_middle_middle">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="middle_finger_1" type="revolute">
  <parent link="hand"/>
  <child link="finger_middle_middle"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 0"/>
</joint>

<link name="finger_end_middle">
  <visual>
  <origin rpy="3.1416 0 0" xyz="-0.029 -0.022 0.182"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/finger_end.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="finger_end_middle">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="middle_finger_2" type="revolute">
  <parent link="finger_middle_middle"/>
  <child link="finger_end_middle"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0 ...
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Comments

I don't know if this is the source of your problem, but I notice that in your launch file you have the use_gui parameter set to TRUE. Shouldn't this be true instead?

jayess gravatar imagejayess ( 2018-06-07 13:30:53 -0600 )edit

It still doesn't work Screenshot of my Rviz https://drive.google.com/file/d/1Ul5n... Fixed frame can show me only "map" but when I entered "hand" myself, then i could see this: https://drive.google.com/file/d/1vaJu...

pawlas gravatar imagepawlas ( 2018-06-08 03:01:52 -0600 )edit

Solved I had to add collision part under visual

pawlas gravatar imagepawlas ( 2018-06-11 04:57:41 -0600 )edit

Can you please write up your solution as an answer?

jayess gravatar imagejayess ( 2018-06-11 11:07:50 -0600 )edit