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Undefined parameters [kinematics_file] while creating urdf

asked 2020-02-23 18:40:52 -0500

brodwix gravatar image

updated 2020-02-23 18:43:45 -0500

I'm following this tutorial on how to create a new URDF from an UR5 robot and a custom gripper.

https://gramaziokohler.github.io/comp...

but when i try to create the urdf using this command:

rosrun xacro xacro --inorder -o ur5_with_measurement_tool.urdf ur5_with_measurement_tool.xacro

i get this message:

Undefined parameters [kinematics_file]

i see that this parameter is new in the repo that i'm using....

https://github.com/fmauch/universal_r...

my question is... is it obligatory to have this repo in order to work with ur-robot-driver? or should i move to the original universal-robot package and try it again?

Thank you in advance.

ROS Version: melodic

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answered 2020-02-24 02:47:15 -0500

gvdhoorn gravatar image

is it obligatory to have this repo in order to work with ur-robot-driver?

No, it isn't.

If you don't use it though, you'll end up with the default URDF, which means the kinematic calibration of your robot will not be taken into account with FK/IK queries.

i see that this parameter is new in the repo that i'm using....

exactly.

So in order for this to work, you should/could provide that parameter and then you'd be able to follow the tutorial you linked.

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Thank you for your answer, i moved to the original universal-robot package, and created a new URDF without any problem, but i'm facing a new issue..

When i try to see the urdf in rviz

$roslaunch ur5_with_measurement_tool display.launch

I get this error

$Could not find the GUI, install the 'joint_state_publisher_gui' package

Which package would provide me this?

I installed ros melodic from apt

brodwix gravatar image brodwix  ( 2020-02-25 02:04:07 -0500 )edit

Please don't post follow-up questions in comments under already answered questions.

They have very little visibility. Post a new question.

gvdhoorn gravatar image gvdhoorn  ( 2020-02-25 02:05:27 -0500 )edit

๐Ÿ˜… sorry, i'm new in the forum, i will open a new question.

brodwix gravatar image brodwix  ( 2020-02-25 02:09:46 -0500 )edit

No problem. No need to apologise.

gvdhoorn gravatar image gvdhoorn  ( 2020-02-25 02:12:29 -0500 )edit

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Asked: 2020-02-23 18:40:52 -0500

Seen: 41 times

Last updated: Feb 24