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2017-03-13 03:05:19 -0500	answered a question	Gazebo: Invalid <param> tag: Cannot load command parameter [robot_description] Finally I found the stupid mistake I have made. In the instantiation of the macro, I missed the third parameter, since I thought it could load the default value as well.
2017-03-12 20:29:21 -0500	asked a question	sdf::elementPtr ? Hi, I was going to add a `mavlink_gazebo_interface` (a gazbeo plugin) to my robot model in gazebo, but the model could not be loaded successfully for unknown reasons. I checked and find that, my model was described in `xacro` form, but I found one of the inlet parameters of `mavlink_gazebo_interface.cpp` is an `sdf::elementPtr` element. I used to use the plugin in a model described in a sdf file, which worked well. I find difficult for me to find the difinition of `sdf::elementPtr`, since I am new to C++. I wonder if it is acceptable if I provide a xacro file for `sdf::elementPtr` as an inlet parameter ? Or, could someone provide any instructions for me to define a new one (compared with `sdf::elementPtr`) suitable for me ? I would be really grateful. Yajing Wang
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2017-03-11 08:30:42 -0500	commented question	Gazebo: Invalid <param> tag: Cannot load command parameter [robot_description] Sure. Hope I have provided something meaningful.
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2017-03-11 06:26:54 -0500	commented question	Gazebo: Invalid <param> tag: Cannot load command parameter [robot_description] I got your idea of the `Invalid <param> tag error`. I think there might be something wrong with the configuration of the `mavlink_interface plugin` which causes the error. I would have a check and try. Thanks for your reply. I would be glad if you can give me more advice.
2017-03-11 06:23:23 -0500	commented question	Gazebo: Invalid <param> tag: Cannot load command parameter [robot_description] Yes. I defined the `mavlink_interface_macro` macro in file `component_snippets.xacro`, and included it: `<xacro:include filename="$(find rotors_description)/urdf/component_snippets.xacro" />` I have checked the definition, and I am quite sure it is correct.
2017-03-11 03:24:04 -0500	asked a question	Gazebo: Invalid <param> tag: Cannot load command parameter [robot_description] My original package worked well. But after I added a `mavlink_interface_macro` to my xacro file of the model, I got the following error: when processing file: /home/u23/WorkSpace/03.fixedwing_sim_pix/04.Firmware/Firmware/Tools/sitl_gazebo/models/techpod/techpod_base.xacro unknown macro name: xacro:mavlink_interface_macro when processing file: /home/u23/WorkSpace/03.fixedwing_sim_pix/04.Firmware/Firmware/Tools/sitl_gazebo/models/techpod/techpod_base.xacro while processing /home/u23/WorkSpace/03.fixedwing_sim_pix/04.Firmware/Firmware/launch/spawn_fixed_wing.launch: Invalid <param> tag: Cannot load command parameter [robot_description]: command [ /opt/ros/jade/share/xacro/xacro.py '/home/u23/WorkSpace/03.fixedwing_sim_pix/04.Firmware/Firmware/Tools/sitl_gazebo/models/techpod/techpod_base.xacro' enable_logging:=false enable_ground_truth:=true log_file:=techpod wait_to_record_bag:=false uav_name:=techpod namespace:=techpod] returned with code [2]. Param xml is <param command=" $(find xacro)/xacro.py '$(arg model)' enable_logging:=$(arg enable_logging) enable_ground_truth:=$(arg enable_ground_truth) log_file:=$(arg log_file) wait_to_record_bag:=$(arg wait_to_record_bag) uav_name:=$(arg uav_name) namespace:=$(arg namespace)" name="robot_description"/> The traceback for the exception was written to the log file I checked the xacro file to make sure the `mavlink_interface_macro` was defined and added in the corrected way. Before I added it the param `[robot_description]` was also successfully loaded. I tried some ways I saw from other examples, like: `rosrun xacro xacro my_model_name.xacro > /tmp/old.xml` I got: `Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order redefining global property: pi when processing file: techpod_base.xacro Undefined substitution argument namespace when evaluating expression 'namespace' when processing file: techpod_base.xacro` However the expression `namespace` works well when quoted in other `macro`. I am confused of the relations between the two errors. I checked the log file, which shows: Invalid <param> tag: Cannot load command parameter [robot_description]: command [ /opt/ros/jade/share/xacro/xacro.py '/home/u23/WorkSpace/03.fixedwing_sim_pix/04.Firmware/Firmware/Tools/sitl_gazebo/models/techpod/techpod_base.xacro' enable_logging:=false enable_ground_truth:=true log_file:=techpod wait_to_record_bag:=false uav_name:=techpod namespace:=techpod] returned with code [2]. Param xml is <param command=" $(find xacro)/xacro.py '$(arg model)' enable_logging:=$(arg enable_logging) enable_ground_truth:=$(arg enable_ground_truth) log_file:=$(arg log_file) wait_to_record_bag:=$(arg wait_to_record_bag) uav_name:=$(arg uav_name) namespace:=$(arg namespace)" name="robot_description"/> [roslaunch][ERROR] 2017-03-11 16:06:37,576: The traceback for the exception was written to the log file [roslaunch][ERROR] 2017-03-11 16:06:37,577: Traceback (most recent call last): File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/__init__.py", line 307, in main p.start() File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start self._start_infrastructure() File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure self._load_config() File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/config.py", line 453, in load_config_default raise RLException(e) `RLException: while processing` /home/u23/WorkSpace/03.fixedwing_sim_pix/04.Firmware/Firmware/launch/spawn_fixed_wing ... (more)
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2016-05-27 03:03:36 -0500	asked a question	How to use urdf_to_graphiz command to see the link relationships of my xacro models? I have run the command :`rosrun xacro xacro.py model.urdf.xacro -o model.urdf` But the generated urdf file has nothing in it. I have other xacro files included by model.urdf.xacro. Dose this lead to the failure? Or is there anything else I missed? Any one who has idea of the problem, please give me some help. I would be really grateful.
2016-05-21 20:21:54 -0500	asked a question	How to update display in rviz of URDF without restarting rviz, after I modifying my URDF? I want to use rviz to check whether my parts of my robot are in the correct places, but it would be troublesome to restart the gazebo all the time. From the tutorial of URDF I knew that using rviz could be a good way to help, but I do not know how to update the modification directly. Could any one give me some instructions? I would be very grateful.
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2016-05-14 05:51:13 -0500	asked a question	How to attach materials including pictures to a irregular geometry ? My situation is : For a cube I create, when I use the Gazebo/Wood material in the `<material> <scripts>**</scripts> </material>` tag in `<visual>` element, It displays with the expected surface. But when I use the same description on another geometry model, it can only display with a similar color. The only two differences between the two models are: In the <geometry> tag, the latter model uses the 3D shape (.dae file) created by SketchUp, but the former one uses the simple `<box>1 1 1<box>`. Every faces of the latter model are in different shape and size. Could anyone please tell me some relations between the difference and the issue? And If possible, could anyone give me some instructions about the meanings of the descriptions in a material file, especially those for a piceture? (For example, the scale ) Thanks.
2016-05-14 00:56:11 -0500	asked a question	Ask for the description file of "NIFTi" 3D model . I have go through the tutorial of "build a robot", in the "Inertial parameters of triangle meshes" sub-tutorial, I find the model used in the picture named "NIFTi". I am making a very similar robot now, and really want to refer to this one. So, could anyone please provide the source of the description file of this robot to me? I would be very grateful.