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unknown_publisher: Ignoring transform for child_frame_id "link1"

asked 2018-11-19 01:05:11 -0600

jungduri gravatar image

updated 2019-10-25 13:51:57 -0600

jayess gravatar image

Hello. Currently I want to simulate random robot, which not provide ROS related files at all, to ROS environment.

Most of manufacturer provide 3D cad file(.step).

And I do some search to make urdf file from cad file, finally I figure it out THERE IS a add-in function in solidworks(wiki.ros.org/sw_urdf_expor....

However, unfortunately, it shows error message as below.

[ERROR] [1542609991.430536188]: Ignoring transform for child_frame_id "link1" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)

[ERROR] [1542609991.430645045]: Ignoring transform for child_frame_id "link1" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)

[ERROR] [1542609991.430670924]: Ignoring transform for child_frame_id "link2" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)

[ERROR] [1542609991.430689004]: Ignoring transform for child_frame_id "link2" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)

https://github.com/Jungduri/HX300L.git Here is the code that I made.

OS: ubuntu 16.04 LTS(VMware) ROS: kinetic

Any comments will helpful. Thank you

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that is correct, you need to check the correct axis in the joint.

nabihandres gravatar imagenabihandres ( 2019-10-25 08:09:26 -0600 )edit

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answered 2018-11-19 02:06:16 -0600

gvdhoorn gravatar image

First issue: some of the joints don't have their axis property set correctly (this one for instance). That would be something to check and fix.

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@gvdhoorn, It works. It makes matrix all zero? So it didn't work?

jungduri gravatar imagejungduri ( 2018-11-19 03:43:35 -0600 )edit

Sometimes the SolidWorks2URDF plugin has difficulty detecting the correct mates/axis. It's not a perfect plugin (but what software is).

gvdhoorn gravatar imagegvdhoorn ( 2018-11-19 04:03:03 -0600 )edit

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Asked: 2018-11-19 01:04:22 -0600

Seen: 458 times

Last updated: Oct 25