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Problem with joint type "continuous" in rviz

asked 2013-01-08 22:26:09 -0500

camilla gravatar image

updated 2013-01-10 09:06:38 -0500

David Lu gravatar image

Hi! I have this robot model (this is the file p2os_urdf/defs/pioneer3dx.xacro)

<?xml version="1.0"?>

<robot name="pioneer3dx"
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    xmlns:xacro="http://ros.org/wiki/xacro">


  <include filename="$(find p2os_urdf_mod)/defs/pioneer3dx_wheel.xacro"/>

  <include filename="$(find p2os_urdf_mod)/defs/erratic_hokuyo_laser.xacro"/>



<!-- Chassis -->
    <link name="base_link">
        <inertial>
            <mass value="3.5"/>
            <!--<origin xyz="-0.025 0 -0.223"/>-->
            <origin xyz="-0.05 0 0"/>
            <inertia ixx="1" ixy="0" ixz="0"
                 iyy="1" iyz="0"
                 izz="1"/>
        </inertial>
        <visual name="base_visual">
            <origin xyz="-0.045 0 0.148" rpy="0 0 0"/>
            <geometry name="pioneer_geom">
                <mesh filename="package://p2os_urdf/meshes/p3dx_meshes/chassis.stl"/>
            </geometry>
            <material name="ChassisRed">
                <color rgba="0.851 0.0 0.0 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="-0.045 0 0.145" rpy="0 0 0"/>
                <geometry>
                    <box size="0.35 0.25 0.14"/>
                </geometry>
        </collision>
    </link>

    <gazebo reference="base_link">
        <material value="Gazebo/Red"/>
    </gazebo>

<!-- Top -->
    <link name="top_plate">
        <inertial>
            <mass value="0.01"/>    
            <origin xyz="0 0 0"/>
            <inertia ixx="1" ixy="0" ixz="0"
                 iyy="1" iyz="0"
                izz="1"/>
        </inertial>
        <visual name="base_visual">
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry name="top_geom">
                <mesh filename="package://p2os_urdf/meshes/p3dx_meshes/top.stl"/>
            </geometry>

            <material name="TopBlack">
                    <color rgba="0.038 0.038 0.038 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0.0 0 0" rpy="0 0 0"/>
            <geometry name="pioneer_geom">
                <box size="0.45 0.38 0.01"/>
            </geometry>
        </collision>
    </link>
    <gazebo reference="top_plate">
        <material value="Gazebo/Black"/>
    </gazebo>


    <joint name="base_top_joint" type="fixed">
        <origin xyz="-0.045 0 0.234" rpy="0 0 0"/>
        <parent link="base_link"/>
        <child link="top_plate"/>
    </joint>



<!-- Swivel -->
    <link name="swivel">
        <inertial>
            <mass value="0.1"/> 
            <origin xyz="0 0 0"/>
            <inertia ixx="0.01" ixy="0" ixz="0"
                 iyy="0.01" iyz="0" izz="0.01"/>
        </inertial>
        <visual name="base_visual">
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry name="pioneer_geom">
                <mesh filename="package://p2os_urdf/meshes/p3dx_meshes/swivel.stl"/>
            </geometry>
            <material name="swivel">
                <color rgba="0.5 0.5 0.5 1"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="0 0 0"/>
            </geometry>
        </collision>
    </link>
    <gazebo reference="swivel">
        <material value="Gazebo/Grey"/>
    </gazebo>


    <joint name="base_swivel_joint" type="continuous">
        <axis xyz="0 0 1"/>
        <anchor xyz="0 0 0"/>
            <limit effort="100" velocity="100" k_velocity="0" />
            <joint_properties damping="0.0" friction="0.0" />
        <origin xyz="-0.185 0 0.055" rpy="0 0 0"/>
        <parent link="base_link"/>
        <child link="swivel"/>
    </joint>

<!-- Center Wheel + Hubcap -->
    <link name="center_hubcap">
        <inertial>
            <mass value="0.01"/>    
            <origin xyz="0 0 0"/>
            <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
                 iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
        </inertial>
    <visual name="base_visual">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry name="pioneer_geom">
            <mesh filename="package://p2os_urdf/meshes ...
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2 Answers

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answered 2013-01-08 23:05:40 -0500

camilla gravatar image

Is it possible that I have to specify a transmission for the continuous joints?

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answered 2013-01-09 05:30:41 -0500

David Lu gravatar image

Are you publishing JointState messages corresponding to that joint?

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Comments

The joint state should be published automatically by gazebo, but if I do rostopic echo /jointstate the two joints corresponding to the swivel link aren't published.

camilla gravatar imagecamilla ( 2013-01-09 20:05:41 -0500 )edit

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Asked: 2013-01-08 22:26:09 -0500

Seen: 1,126 times

Last updated: Jan 09 '13