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robot description problem!

asked 2012-05-29 09:51:50 -0500

Alireza gravatar image


I have written a robot description for our robot which is consist of urdf of a pantilt,kinect and the robot's base platform!

The problem is that when i am running robot_description in a remote pc and pantilt controller in robot's pc i am getting below warning in rviz:

"there is no transform from map to openni_depth_frame"(also for all of other frames which is mounted on pantilt frame).

In RVIZ i can see that the joints between pantilt and kinect is attached properly but the position of kinect's frames is wrong! their position is not updated and their position is 0,0,0!

The pantilt controller publishes joint states of pantilt and i can get pantilt joint states in properly. When i am running robot's description and pantilt controller on the same side every thing works fine! (I am sure about the configurations of my network communication ).

Any Idea?


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Can you upload the URDF?

David Lu gravatar image David Lu  ( 2012-05-29 09:57:06 -0500 )edit

3 Answers

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answered 2012-05-29 10:32:18 -0500

David Lu gravatar image

The problem probably is in the fact that there is no link named "openni_depth_frame", just "camera_depth_frame". I'm not sure why that would work when its all on the same machine though.

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answered 2012-05-29 10:04:23 -0500

Alireza gravatar image

updated 2012-05-29 10:07:49 -0500

David Lu gravatar image
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Can you either post the output of xacro or also include the linked-to xacro files?

David Lu gravatar image David Lu  ( 2012-05-29 10:10:11 -0500 )edit

Right now i have not access to a machine with a installed ROS! but i can say that i have checked my urdf using urdf checking tools and i didn't see anything wrong!

Alireza gravatar image Alireza  ( 2012-05-29 10:15:50 -0500 )edit

answered 2012-05-29 10:21:13 -0500

David Lu gravatar image

When you run one part remotely, are you still running robot_state_publisher?

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yes! the joints states are publishing from the source code of the pantilt driver!

Alireza gravatar image Alireza  ( 2012-05-29 10:23:46 -0500 )edit

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Asked: 2012-05-29 09:51:50 -0500

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Last updated: May 29 '12