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urdf simulation in rviz for a arm robot,

asked 2018-12-08 03:35:36 -0600

942951641@qq.com gravatar image

updated 2018-12-08 10:28:10 -0600

gvdhoorn gravatar image

I need to publish a stop cmd to make a robot arm to zero positon, so i let it move 10 steps to zero posion. I use double datatype to calculate, i find the urdf donot response to my topic message.

I find my message have a big precision, for example

position: [0.0, 3.259629011154175e-09, -2.9103830456733704e-10, 3.725290298461914e-09, 1.30385160446167e-08, 0.0, 0.0, -1.1175870895385742e-08, 1.1175870895385742e-08, 0.0, 5.587935447692871e-09, 1.1175870895385742e-08, -6.51925802230835e-09, 1.30385160446167e-08, 1.862645149230957e-09, 9.313225746154785e-09, 0.0, -3.259629011154175e-09, 2.2351741790771484e-08, 0.0, 5.587935447692871e-09, 6.51925802230835e-09, 6.51925802230835e-09, 1.1175870895385742e-08, 1.1175870895385742e-08, 1.1175870895385742e-08, 3.725290298461914e-09, 3.725290298461914e-09, 3.725290298461914e-09, -3.725290298461914e-09, -3.725290298461914e-09, -3.725290298461914e-09, 1.4901161193847656e-08, 1.4901161193847656e-08, 1.4901161193847656e-08, -1.6298145055770874e-09, -1.6298145055770874e-09, -4.190951585769653e-09, -4.190951585769653e-09, -4.190951585769653e-09, 3.4924596548080444e-10, 3.4924596548080444e-10, 3.4924596548080444e-10, -1.6298145055770874e-09, -1.6298145055770874e-09, -1.6298145055770874e-09, -1.6298145055770874e-09, -1.6298145055770874e-09, -1.6298145055770874e-09]
velocity: []
effort: []

if i send push back 0 to JointState position fileds, urdf will move to relative postion.

is there some other reason to these fault ?

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Out of curiosity: what sort of robot is this? That's almost 50 dof there in that message.

gvdhoorn gravatar imagegvdhoorn ( 2018-12-08 10:28:50 -0600 )edit

one humanoid robot;

942951641@qq.com gravatar image942951641@qq.com ( 2019-11-16 06:14:23 -0600 )edit

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answered 2018-12-08 06:01:35 -0600

942951641@qq.com gravatar image

sorry, i solved my problem;

my jointstate message is invalid, because i do not define the header.stamp

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Asked: 2018-12-08 03:35:36 -0600

Seen: 18 times

Last updated: Dec 08 '18