Can't parse transmissions. Invalid robot description.
I want to simulate my robotic arm in gazebo. This error is coming whenever I am spawning my robot in gazebo and I can't able to load any of my joint_position controllers. I am attaching my urdf , control.yaml, and the launch files. error when spawning the robot
[ERROR] [1594782495.582555693, 0.326000000]: Can't parse transmissions. Invalid robot description.
[ERROR] [1594782495.669790261, 0.326000000]: Error document empty.
error when loading the controllers:
[ERROR] [1594783081.365081451, 539.791000000]: Exception thrown while initializing controller joint_1_position_controller.
Could not find resource 'joint_1' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1594783081.365288101, 539.791000000]: Initializing controller 'joint_1_position_controller' failed
error while loading controller in another terminal
Loading controller: joint_1_position_controller
[ERROR] [1594783082.375160, 540.688000]: Failed to load joint_1_position_controller
[INFO] [1594783082.375588, 540.688000]: Loading controller: joint_2_position_controller
[ERROR] [1594783083.453085, 541.622000]: Failed to load joint_2_position_controller
This is my controller file
test_1_urdf:
#publish all joint states ------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
#position Controllers
joint_1_position_controller:
type: effort_controllers/JointPositionController
joint: joint_1
pid: {p: 100.0 , i: 0.01 , d: 10 }
joint_2_position_controller:
type: effort_controllers/JointPositionController
joint: joint_2
pid: {p: 100.0 , i: 0.01 , d: 10 }
joint_3_position_controller:
type: effort_controllers/JointPositionController
joint: joint_3
pid: {p: 100.0 , i: 0.01 , d: 10 }
joint_4_position_controller:
type: effort_controllers/JointPositionController
joint: joint_4
pid: {p: 100.0 , i: 0.01 , d: 10 }
joint_5_position_controller:
type: effort_controllers/JointPositionController
joint: joint_5
pid: {p: 100.0 , i: 0.01 , d: 10 }
This my urdf file
<?xml version="1.0"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="test_1_urdf">
<!-- <link name="world"/>
<joint name="fixed" type="fixed">
<parent name="world"/>
<chile name="base_link"/>
</joint>-->
<link
name="base_link">
<inertial>
<origin
xyz="0.026901 0.024709 -0.0098697"
rpy="0 0 0" />
<mass
value="0.34742" />
<inertia
ixx="0.00046368"
ixy="-2.9001E-06"
ixz="-3.7543E-19"
iyy="0.0010571"
iyz="-5.1522E-19"
izz="0.00076443" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://test_1_urdf/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://test_1_urdf/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_1">
<inertial>
<origin
xyz="-0.033996 0.053779 0.0013632"
rpy="0 0 0" />
<mass
value="0.62403" />
<inertia
ixx="0.00055304"
ixy="3.8373E-06"
ixz="1.4793E-07"
iyy="0.00073956"
iyz="-2.5812E-09"
izz="0.00076923" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://test_1_urdf/meshes/link_1.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material> ...
Hi, @Khule
Maybe the problem is how you specify your transmission and the ROS control plugin params. From my own projects I use transmission like this:
An the plugin like this:
Maybe the most important part is the robotSimType param since you are using Gazebo.
Hi Weasfas, I try your code also but same error is coming. That is transmission in not loaded in the gazebo.