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unable to parse urdf file

asked 2012-06-20 04:49:37 -0600

Lucian gravatar image

updated 2012-06-20 11:53:49 -0600

Eric Perko gravatar image

Hello everyone,

The question is extremely simple: when I type the line (quoted):

<origin xyz="${reflect*camera_offset_x} 0 0" rpy="0 ${camera_offset_p} 0" />

the urdf is parsed, everything is great, I can visualize in rviz and when I type:

<origin xyz="${reflect*camera_offset_x} 0 0" rpy="0 ${reflect*camera_offset_p} 0" />

it doesn't work anymore..

Here, reflect can be 1 or -1 and it seems to by no problem for entering negative values for the angle offsets...

So where the hell could the problem come from?

Thanks for your time. Yours, Lucian

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answered 2012-06-20 04:57:48 -0600

Lucian gravatar image

I think I figured this one out:

camera_offset_p was declared as:

<property name="camera_offset_p" value="${2*M_PI/360*18}"/>

and if I declare it as:

<property name="camera_offset_p" value="0.314159265"/>

which is equivalent, it works again.

Maybe someone could explain me why then?

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There is no pre-defined constant M_PI in xacro as far as I know.

Lorenz gravatar image Lorenz  ( 2012-06-20 05:21:25 -0600 )edit

I already predefined M_PI as 3.1415

Lucian gravatar image Lucian  ( 2012-06-21 04:04:57 -0600 )edit

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Asked: 2012-06-20 04:49:37 -0600

Seen: 2,359 times

Last updated: Jun 20 '12