[ERROR] [1673556474.918890316]: Ignoring transform for child_frame_id "link1" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.707108 0.000000 0.707105) [closed]

asked 2023-01-12 15:59:05 -0600

rsankhye97 gravatar image

Hello,

Iam trying to convert my SolidWorks assembly into urdf and load into Rviz first and then finally into Gazebo. I have a package created using the http://wiki.ros.org/sw_urdf_exporter. After using catkin_make to create the package and using command

roslaunch urdf_tutorial display.launch model:='$(find enter code hereurdf_tutorial)/urdf/slide_gantry.urdf'

This is the error that pops up

[ WARN] [1673548452.394450224]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ERROR] [1673548453.859613588]: Ignoring transform for child_frame_id "link1" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 -0.707108 0.000000 0.707105)

Here is the code to reproduce https://github.com/rsankhye97/gantry_urdf/tree/main/src/end_effector_slide_gantry

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Closed for the following reason duplicate question by gvdhoorn
close date 2023-01-13 04:11:39.876195

Comments

Closing as duplicate of #q250237 and #q308868.

Please see the discussion there: you have an axis element in your .urdf which has 0 0 0 for all the elements (specifically joint1, here). That's not supported. axis elements must have at least one of the values non-zero (which would the axis around or along your joint should move).

gvdhoorn gravatar image gvdhoorn  ( 2023-01-13 04:13:18 -0600 )edit