Link '' is not known to URDF. Cannot disable collisons.
Computer is running 32-bit Ubuntu 16.04 LTS with kernel 4.15.0-74-generic and ROS kinetic. Issue is similar to https://github.com/ros-planning/moveit/issues/1355 however no concrete solution was ever posted for that issue, or the x-post on ROS answers. I have a urdf file with multiple elements to it, and it appears fine in the moveit setup assistant as well as the demo.launch file. However, when executing the move_group.launch file for the same urdf file, the following errors appear and the links with warnings do not appear in Rviz.
[ WARN] [1579894372.596788574]: Link 'dummy_bottom' is not known to URDF. Cannot disable collisons.
[ WARN] [1579894372.596799760]: Link 'dummy_bottom' is not known to URDF. Cannot disable collisons.
[ WARN] [1579894372.596807727]: Link 'dummy_bottom' is not known to URDF. Cannot disable collisons.
[ WARN] [1579894372.596815135]: Link 'dummy_bottom' is not known to URDF. Cannot disable collisons.
[ WARN] [1579894372.596822319]: Link 'dummy_bottom' is not known to URDF. Cannot disable collisons.
[ WARN] [1579894372.596829754]: Link 'dummy_fingers' is not known to URDF. Cannot disable collisons.
[ WARN] [1579894372.596839316]: Link 'dummy_fingers' is not known to URDF. Cannot disable collisons.
[ WARN] [1579894372.596850298]: Link 'dummy_fingers' is not known to URDF. Cannot disable collisons.
[ WARN] [1579894372.596858761]: Link 'dummy_fingers' is not known to URDF. Cannot disable collisons.
I have tried and created multiple different URDF files. In every one, the newly created objects are "not known" to the urdf.
The urdf with the links above is as follows:
<robot name="dummy_robotiq_gripper">
<!-- Gripper Base -->
<link name="dummy_bottom">
<!-- <origin xyz="0 0 0.1" rpy="0 0 0"/> -->
<visual>
</visual>
<collision>
<geometry>
<cylinder radius="0.038" length="0.05"/>
</geometry>
</collision>
</link>
<!--Gripper Fingers (accounts for open and close positions) -->
<link name="dummy_fingers">
<visual>
<geometry>
<box size="0.03 0.15 0.13"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.03 0.15 0.13"/>
</geometry>
</collision>
</link>
<!-- Base to Finger joint -->
<joint name="base_to_finger_joint" type="fixed">
<origin xyz="0 0 0.09" rpy="0 0 0"/>
<parent link="dummy_bottom"/>
<child link="dummy_fingers"/>
</joint>
</robot>
Asked by brenhertel on 2020-01-24 14:56:27 UTC
Answers
Is load_robot_description
set to true
in the planning_context.launch
file of your moveit_config
package? If not, are you uploading the robot description to the ROS parameter server before you launch move_group.launch
, e.g. when launching your robot drivers?
If neither of those help, please post your moveit_config
package and the one containing your URDF in your OP.
Asked by fvd on 2020-02-29 12:59:42 UTC
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