Problem with urdf parsing

asked 2019-03-15 08:54:25 -0600

Sriram_M gravatar image

updated 2019-03-15 10:18:35 -0600

jayess gravatar image

URDF file

<xml version="1.0"?>
<robot name="rrbot">

<link name="base_link">
 <collision name="collision">
  <origin xyz="0 0 0.1" rpy="0 0 0"/>
  <geometry>
   <box size="0.4 0.2 0.1"/>
  </geometry>
 </collision>

<visual name="visual">
 <origin xyz="0 0 0.1" rpy="0 0 0"/>
 <geometry>
  <box size="0.4 0.2 0.1"/>
 </geometry>
</visual>

<inertial>
 <mass value="1e-5"/>
 <origin xyz="0 0 0.1" rpy="0 0 0"/>
 <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>

<link name="left_wheel">
 <collision name="collision">
  <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>
  <geometry>
   <cylinder length="0.05" radius="0.1"/>
  </geometry>
 </collision>

<visual name="visual">
 <origin xyz="0.2 0.13 0.1" rpy="0 1.5705 1.5707"/>
 <geometry>
  <cylinder length="0.05" radius="0.1"/>
 </geometry>
</visual>
<inertial>
 <mass value="1e-5"/>
  <origin xyz="0.2 0.13 0.1"/>
  <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
 </inertial>
</link>

<joint type="revolute" name="joint1">

I was trying to execute this code but when I checked it using the command check_urdf rrbot.urdf I am getting an error mentioned below.

Error:   Error reading Attributes.
         at line 72 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/model.cpp
ERROR: Model Parsing the xml failed

I need help.

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Comments

1

<robot name="test_robot"> (...) </robot>

are you sure you have </robot> at the end?

pmuthu2s gravatar imagepmuthu2s ( 2019-03-15 10:02:22 -0600 )edit

Did it solve your problem?

pmuthu2s gravatar imagepmuthu2s ( 2019-03-15 15:03:37 -0600 )edit

Yes I do have </robot> at the end. But still it didn't work.

Sriram_M gravatar imageSriram_M ( 2019-03-17 02:33:09 -0600 )edit

Please post the full file.

fvd gravatar imagefvd ( 2019-03-19 05:50:44 -0600 )edit