Link '___' is not known to URDF. Cannot disable collisons.

asked 2019-02-18 09:40:00 -0500

A_YIng gravatar image

Hello,

I use Ubuntu 16.04 with ROS Kinetic.

I created a xacro file, then convert it to urdf file of my robot.

And I load it on the MoveIt! Setup Assistant, it works without any problem.

But, when I open the demo.launch of moveit.

It shows these error message:

[ERROR] [1550491823.574271825]: Virtual joint does not attach to a link on the robot (link 'world' is not known)
[ WARN] [1550491823.574477127]: Link 'table' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574501121]: Link 'eef_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574517402]: Link 'eef_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574532496]: Link 'eef_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574544156]: Link 'eef_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574557114]: Link 'eef_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574571809]: Link 'eef_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574588252]: Link 'eef_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574607902]: Link 'lwheel_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574622958]: Link 'rwheel_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574644346]: Link 'lwheel_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574660425]: Link 'rwheel_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574676135]: Link 'table' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574692419]: Link 'lwheel_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574706650]: Link 'rwheel_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574720857]: Link 'lwheel_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574734802]: Link 'rwheel_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1550491823.574748818]: Link 'lwheel_link' is not known to URDF. Cannot disable collisons.

Here is my xacro file:

<?xml version="1.0" ?>
<robot name="motoman_mh5" xmlns:xacro="http://ros.org/wiki/xacro">

<!-- robot urdf file -->
<xacro:include filename="$(find motoman_mh5_support)/urdf/mh5_macro.xacro" />
<xacro:motoman_mh5 prefix=""/>
<!-- eef urdf file -->
<xacro:include filename="$(find eef)/urdf/eef.urdf" />
<!-- env urdf file -->
<xacro:include filename="/home/cyc/catkin_ws/src/motoman/motoman_mh5_support/urdf/env_macro.xacro" />
<xacro:env prefix=""/>

<link name="world" />
<joint name="world_table_joint" type="fixed">
    <parent link="world" />
    <child link = "table" />
    <origin xyz="0.0 0.0 0.4" rpy="0.0 0.0 0.0" />
</joint>
<joint name="table_robot_joint" type="fixed">
    <parent link="table" />
    <child link = "base_link" />
    <origin xyz="-0.6 0.0 0.4" rpy="0.0 0.0 0.0" />
</joint>
<joint name="robot_eef_joint" type="continuous">
    <parent link="link_t" />
    <child link = "eef_base_link" />
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>

</robot>
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Comments

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Cross-post of this issue

fvd gravatar image fvd  ( 2019-02-18 23:57:49 -0500 )edit