Robin C's profile - activity

Hi everybody,

I would like to create an interface to control a 6 dof arm. I would like at least something that enables me to reach a goal position by entering the coordinates (with an IK solver). I'm begining with ROS and I thought at first time to use the "Planning Description Configuration Wizard" which autogenerate all the needed files to create a planner. But I dealed with some difficulties.

When I launch:

roslaunch planning_environment planning_description_configuration_wizard.launch urdf_package:=modular_arm urdf_path:=ros/robots/modular_arm_PG.urdf.xacro

The Wizard and Rviz are launching without any error but only the base_link of my model appears. I can't identify where this problem belongs. When I load my model in gazebo and do "rosrun rviz rviz" in another terminal, evrything goes well with the model in Rviz but I can't see the links in the Wizard.

Here are the xacro.urdf of my model:

<?xml version="1.0"?>
<robot 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://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       name="modular_arm" >

  <!-- The following included files set up definitions of parts of the robot body -->
  <!-- misc common stuff? -->
  <include filename="$(find modular_arm)/ros/urdf/common.xacro" />

  <include filename="$(find modular_arm)/ros/calibration/modular_arm.urdf.xacro" />

  <!-- cob arm-->
  <include filename="$(find modular_arm)/ros/urdf/modular_arm.urdf.xacro" />

  <!-- PG -->
  <include filename="$(find modular_arm)/ros/urdf/PG.urdf.xacro" />

  <!-- generic simulator_gazebo plugins for starting mechanism control, ros time, ros battery -->
  <include filename="$(find modular_arm)/ros/gazebo/gazebo.urdf.xacro" />

  <!-- materials for visualization -->
  <include filename="$(find modular_arm)/ros/urdf/materials.urdf.xacro" />

  <!-- foot for arm-->
    <link name="base_link">
        <inertial>
        <!--origin xyz="0 0 0.1" rpy="0 0 0"--> 
           <origin xyz="0 0 0.474" rpy="0 0 0"/>
           <mass value="100.0"/>
           <inertia ixx="10.0"  ixy="0"  ixz="0" iyy="100.0" iyz="0" izz="100.0" />
        </inertial>

        <visual>
        <!--origin xyz="0 0 0.1" rpy="0 0 0"--> 
           <origin xyz="0 0 0.474" rpy="0 0 0" />
           <geometry>   
            <mesh filename="package://modular_arm/ros/meshes/frame.stl" scale="0.001 0.001 0.001" />
           </geometry>
        <material name="Grey">
        <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
        </visual>

        <collision>
        <!--origin xyz="0 0 0.1" rpy="0 0 0"--> 
           <origin xyz="0 0 0.474" rpy="0 0 0" />
           <geometry>
             <mesh filename="package://modular_arm/ros/meshes/frame.stl" scale="0.001 0.001 0.001" />
           </geometry>
        </collision>
    </link>

  <!-- arm -->
  <xacro:cob_arm_v0 name="arm" parent="base_link">  
    <origin xyz="0 0 0.474" rpy="0 3.14159265 1.570796325" />
  </xacro:cob_arm_v0>

  <!-- sdh -->
  <!--xacro:cob_sdh_v0 name="sdh" parent="arm_6_link">
    <origin xyz="0 -0.0595 0" rpy="1.57079633 0 0 " />
  </xacro:cob_sdh_v0-->

  <!-- PG -->
  <xacro:PG name="PG" parent="arm_6_link">
    <!--origin xyz="0 -0.0595 0" rpy="0 0 0"/-->
    <origin xyz="0 0 0" rpy="-1.570796325 3.14159265 0"/>
  </xacro:PG>

</robot>

<?xml version="1.0"?>
<robot  xmlns ...