# Revision history [back]

### Book: Learning ROS for Robotics Programming, 2nd Edn; Chapter 7- pr2 desctiption

Hello; I am studying the book written for beginners. I was trying to simulate the code give in the Chapter 7 tutorials. When I started running the complete code given in the tutorial of that chapter i.e. robot with gripper (which is described in the book from page 276 - 280), I got this error.

ERROR: Model Parsing the xml failed


Digging deeper into it, by running block by block after commenting each block, I found out that error occurs at the following block

   <joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1" />
<origin rpy="0 -1.57 0" xyz="0.06 0.0 0.04"/>
<limit effot="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
</joint>

<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="//pr2_description/meshes/gripper_v0/l_finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0" izz="1.0"/>
</inertial>


Seeing the error and block, I found the line //pr2_description/meshes/gripper_v0/l_finger.dae" suspicious. I tried to figure out this problem by reading the blogs for its installation such as this in which the method is provided for the installation for hydro. As, I am using ROS-jade under ubuntu 15.04 so I changed the command into this

$sudo apt-get install ros-jade-pr2-desktop  but I got this message. E: Unable to locate package ros-jade-pr2-desktop  I also read from the answers that it is under development (on the date April 2014) for hydro and someone recommended to wait for 2-3 months. Please, help me out in figuring out this problem from the book. Thanks in advance. ### Book: Learning ROS for Robotics Programming, 2nd Edn; Chapter 7- pr2 desctiption Hello; I am studying the book written for beginners. I was trying to simulate the code give in the Chapter 7 tutorials. When I started running the complete code given in the tutorial of that chapter i.e. robot with gripper (which is described in the book from page 276 - 280), I got this error. ERROR: Model Parsing the xml failed  Digging deeper into it, by running block by block after commenting each block, I found out that error occurs at the following block  <joint name="left_gripper_joint" type="revolute"> <paretn link="arm_2"/> <child link="left_gripper"/> <axis xyz="0 0 1" /> <origin rpy="0 -1.57 0" xyz="0.06 0.0 0.04"/> <limit effot="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> </joint> <link name="left_gripper"> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <mesh filename="//pr2_description/meshes/gripper_v0/l_finger.dae"/> </geometry> </visual> <collision> <geometry> <box size="0.1 0.1 0.1"/> </geometry> </collision> <inertial> <mass value="1"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0" izz="1.0"/> </inertial> </link>  Seeing the error and block, I found the line //pr2_description/meshes/gripper_v0/l_finger.dae" suspicious. I tried to figure out this problem by reading the blogs for its installation such as this in which the method is provided for the installation for hydro. As, I am using ROS-jade under ubuntu 15.04 so I changed the command into this $ sudo apt-get install ros-jade-pr2-desktop


but I got this message.

E: Unable to locate package ros-jade-pr2-desktop


I also read from the answers that it is under development (on the date April 2014) for hydro and someone recommended to wait for 2-3 months. Please, help me out in figuring out this problem from the book. Thanks in advance.

### Book: Learning ROS for Robotics Programming, 2nd Edn; Chapter 7- pr2 desctiption

Hello; I am studying the book written for beginners. I was trying to simulate the code give in the Chapter 7 tutorials. When I started running the complete code given in the tutorial of that chapter i.e. robot with gripper (which is described in the book from page 276 - 280), I got this error.

ERROR: Model Parsing the xml failed


Digging deeper into it, I found out that error occurs at in the following block

   <joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1" />
<origin rpy="0 -1.57 0" xyz="0.06 0.0 0.04"/>
<limit effot="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
</joint>

<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="//pr2_description/meshes/gripper_v0/l_finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0" izz="1.0"/>
</inertial>

Seeing the error and block, I found the line //pr2_description/meshes/gripper_v0/l_finger.dae" suspicious. I tried to figure out this problem by reading the blogs for its installation such as this in which the method is provided for the installation for hydro. As, I am using ROS-jade under ubuntu 15.04 so I changed the command into this
\$ sudo apt-get install ros-jade-pr2-desktop

E: Unable to locate package ros-jade-pr2-desktop