general doubt in erratic urdf

asked 2011-03-06 13:33:51 -0500

avin111
73 ●11 ●13 ●18

I am trying to write a urdf for a rover which is like erratic robot in some aspects,but it is very big compared to it.So i tried changing urdf file of erratic to suit my rover.However i was not able to change the wheel of the erratic robot because it is a stl file.Can you suggest me anyways to change the stl file to make it bigger.i am a newbie to ros.pardon me if the question is trivial.thanking you

answered 2011-03-06 13:44:57 -0500

arebgun

2121 ●7 ●22 ●43 http://www.cs.arizona....

updated 2011-03-06 13:50:49 -0500

Hi, there are a couple of things you can do. The easiest one to try is to specify a scale parameter on the mesh (see http://www.ros.org/wiki/urdf/XML/Link for reference on URDF). Another option is to replace the mesh with a primitive cylinder shape which should work equally well.

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Hi could you tell me how to specify a scale parameter on the mesh...Thanking you...

avin111 ( 2011-03-06 14:39:41 -0500 )edit

Execute "gedit `rospack find erratic_description`/urdf/erratic_wheel.xacro" and modify lines 36 and 44 to have scale attribute, e.g. <mesh filename="..." scale="1 2 2" /> to make the wheel twice as large.

arebgun ( 2011-03-06 14:53:58 -0500 )edit

I tried that but i was not able to parse it.It is showing the following error.Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/cturtle/stacks/common/xacro/xacro.py '/home/avinash/ros/raven_robot_model/urdf/raven.urdf.xacro'] returned with code [1]. raise XacroException("included file [%s] generated an error during XML parsing: %s"%(filename, str(e)))

avin111 ( 2011-03-06 15:14:52 -0500 )edit

i am really sorry for the previous comment.I got it working.there is some mistake in my syntax.Really sorry for disturbing you..Thanking you..

avin111 ( 2011-03-06 15:21:51 -0500 )edit

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