Ask Your Question
0

Undefined parameters [kinematics_file]

asked 2020-02-26 15:01:35 -0500

dschimpf gravatar image

Hello,

I am runing Ubuntu 16 with ROS kinetic. I am using the UR-Driver found here (https://github.com/UniversalRobots/Un...) and followed this calibration procedure (https://github.com/UniversalRobots/Un...). When I run the URDF from this tutorial (https://industrial-training-master.re...) but with the previously mentioned driver installed I get the error:

Undefined parameters [kinematics_file] None None
when instantiating macro: ur10_robot (/home/dan/catkin_ws/src/fmauch_universal_robot/ur_description/urdf/ur10.urdf.xacro)

in file: /home/dan/catkin_ws/src/grindcell_support/urdf/workcell.xacro
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/dan/catkin_ws/src/grindcell_support/urdf/workcell.xacro'] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro --inorder '$(find grindcell_support)/urdf/workcell.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file

I believe the problem is very similar to the found in here (https://answers.ros.org/question/3442...), but I did not understand how it was solved.

I think the problem is in line 32 of ur10.urdf.xacro. The parameter kinematics_file is mentioned but not set. I tried setting it by writing "kinematics_file=home/my_robot_calibration.yaml', but this created a new error:

string indices must be integers 
when evaluating expression 'kinematics_file['kinematics']' 
when evaluating expression '__kinematics['shoulder']['roll']'
when instantiating macro: ur10_robot (/home/dan/catkin_ws/src/fmauch_universal_robot/ur_description/urdf/ur10.urdf.xacro)
in file: /home/dan/catkin_ws/src/grindcell_support/urdf/workcell.xacro
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/dan/catkin_ws/src/grindcell_support/urdf/workcell.xacro'] returned with code [2]. 


Param xml is <param command="$(find xacro)/xacro --inorder '$(find grindcell_support)/urdf/workcell.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file

How do I set the kinematics_file correctly in ur10.urdf.xacro?

Thank you!!!

Daniel

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2020-03-12 10:11:15 -0500

dschimpf gravatar image

updated 2020-03-12 10:34:14 -0500

To fix this issue a couple things have to be changed in the workcell.xacro.

add the line

<xacro:arg name="kinematics_config" default="$(find example_organization_ur_launch)/etc/ex-ur10-1_calibration.yaml"/>

before the line

  <xacro:include filename="$(find ur_e_description)/urdf/ur10e.urdf.xacro" />

and also change line

 <xacro:ur10e_robot prefix="" joint_limited="true"/>

to

<xacro:ur10e_robot prefix="" joint_limited="true" kinematics_file="${load_yaml('$(arg kinematics_config)')}"/>

(Question was also answered here: https://github.com/UniversalRobots/Un...)

edit flag offensive delete link more

Comments

1

Please don't post a link-only answer.

If you could post a summary here, that would be great.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-12 10:17:51 -0500 )edit

I'll do that!

dschimpf gravatar image dschimpf  ( 2020-03-12 10:26:53 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2020-02-26 15:01:35 -0500

Seen: 36 times

Last updated: Mar 12