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undefined parameters [kinematics_file] in urdf.xacro

asked 2020-02-15 01:50:09 -0600

Victor Wu gravatar image

I tried to setup the moveit configuration using the moveit setup assistant and the ur5.urdf.xacro from universal robot ros driver. I cannot even load the file and it complaint [kinematics_file] as undefined parameters.

First, what is this kinematics file? Second, where and how should I specify it or define it? Third, is this the calibration data?

Thank your very much for any help.

Regards, Victor Wu.

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answered 2020-02-15 03:11:32 -0600

Victor Wu gravatar image

updated 2020-02-15 03:12:19 -0600

Sorry mates,

My mistake. All the parameters should be handled in the UR5_robot.urdf.xacro file already.

I withdraw this question.

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How did you "fix" the error?

tropic gravatar imagetropic ( 2020-02-20 15:15:03 -0600 )edit

"fix" the error, yes and no. Yes, the [kinematics_file] parameter (or argument) is set in the file UR5_robot.urdf.xacro. Therefore one should use the ur5_robot.urdf.xacro as the top level file instead of using the ur5.urdf.xacro file. Though I remember reading somewhere gvdhoon has mentioned this before, I cannot remember where. At the same time, I cannot find or there does not exist any documentation explaining the architecture of these files or the structure of which one should be used at what level. No, because I am still struggling at this point of time in trying to construct the suite of launch files to use MoveIt, RViz with this new driver, ur_robot_driver, to control my UR5. There seem a lack of documentation or guidelines on how to do this!

Victor Wu gravatar imageVictor Wu ( 2020-02-20 19:23:54 -0600 )edit

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Asked: 2020-02-15 01:50:09 -0600

Seen: 6 times

Last updated: Feb 15