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writing a revolute joint

asked 2012-10-09 21:25:27 -0600

ccm gravatar image

updated 2014-01-28 17:13:54 -0600

ngrennan gravatar image

I'm trying to build a door model but I can't seem to get the coding for revolute joints right. the "base_link" is the wall and "door" is the door.

My code "door.xml" is here

<?xml version="1.0"?>
<robot name="door">
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.6 0.05 0.6"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.3"/>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!--<inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"  izz="1.0" />
    </inertia>-->
  </link>

  <link name="door">
    <visual>
      <geometry>
        <box size="0.3 0.05 0.6"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.15 -0.025 0"/>
    </visual>
  </link>

  <joint name="hinge" type="revolute">
    <limit upper="0" lower="-1.57"velocity="10" effort="10"/>
    <origin xyz="0.3 0.025 .3"/>
    <axis xyz="0 0 1" />
    <parent link="base_link"/>
    <child link="door"/>
  </joint> 
</robot>

I yield the following error

Traceback (most recent call last):
  File "/opt/ros/fuerte/stacks/robot_model_visualization/joint_state_publisher/joint_state_publisher", line 202, in <module>
    jsp = JointStatePublisher()
  File "/opt/ros/fuerte/stacks/robot_model_visualization/joint_state_publisher/joint_state_publisher", line 25, in __init__
    robot = xml.dom.minidom.parseString(description).getElementsByTagName('robot')[0]
  File "/usr/lib/python2.7/xml/dom/minidom.py", line 1930, in parseString
    return expatbuilder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
    return builder.parseString(string)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
    parser.Parse(string, True)
xml.parsers.expat.ExpatError: not well-formed (invalid token): line 47, column 34

Here's a picture of how it looks like on rviz when I run roslaunch urdf_tutorial display.launch model:=door.xml door.png

The visualization on rviz works perfectly find when I use continuous or fixed joints. So I'm not sure whether it is due to my code or some python related script. I'm running on Ubuntu 12.04, Fuerte.

Thanks!

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Comments

I wouldn't define origin of the "door" link. It's excessive. Instead define it in the joint declaration.

Peter Listov gravatar imagePeter Listov ( 2012-10-09 23:15:27 -0600 )edit

Peter>> How do you define it in joint declaration? I want the joint to be connected to the side of the door rather than right smack in the middle. The only way I know how to shift it is to declare origin for the door. >.<

ccm gravatar imageccm ( 2012-10-11 03:36:34 -0600 )edit

This guy is very handsome and might answer your question: https://www.youtube.com/watch?v=g9WHxOpAUns&t=16m34s

David Lu gravatar imageDavid Lu ( 2012-10-12 06:25:17 -0600 )edit

1 Answer

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answered 2012-10-09 22:56:07 -0600

The error message means that your XML is invalid: there's a " " missing in front of velocity. You can validate XML using the following command:

xmlstarlet val myfile.xml

Apart from that, your file looks good. Later, you'll want to add <collision> tags (just copy the <visual> tags).

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Comments

Thank you! It managed to generate in Rviz now :D Feel kind of stupid for not noticing that missing space. I shall try to add collision tags now. Thanks a lot.

ccm gravatar imageccm ( 2012-10-11 05:18:45 -0600 )edit

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Asked: 2012-10-09 21:25:27 -0600

Seen: 402 times

Last updated: Oct 09 '12