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Hello! I recently started studying ROS and now I'm considering this tutorial

I don't understand how the axis xyz values (from Completing the Kinematics) was calculated. The follow values are given at first:

  <axis xyz="0 1 0" />

for joint2 and

<axis xyz="-0.707 0.707 0" />

for joint1.

But after that in the general .XML file are given:

 <axis xyz="-0.707 0.707 0" />

for joint2 and

<axis xyz="-0.9 0.15 0" />

for joint1.

As i know vectors for axis xyz should be normalized, but "-0.9 0.15 0" is not normalized. What are the correct values? Thanks.

I use Ubuntu 16.04 and ROS kinetic.

Hello! I write a package for a robot, that has servo-motors. How node (from my package) pulbishes JointState msgs, and i can see the visualization of my robot in rviz. I want to use a ssc32 servo-controller, with which you can set not only the state, but also the speed of single displacement. I find a ros ssc32 driver, and this driver takes JointTrajectory like input messages. Is there a way to display moving model of my robot (real robot not exist yet) in rviz with using JointTrajectory? Maybe I should use gazebo simulator?

Of course, I can write a converter JointTrajectory -> JointState, but there can be a cleaner way?

I use ros-kinetic and ubuntu 16.04.

How to visualize trajectory_msgs? Hello! I write a package for a robot, that has servo-motors. How node (from my package

Strange numbers in "Create your own urdf file" URDF's tutorial Hello! I recently started studying ROS and now I'm consid