vonunwerth's profile - activity

Based on the visualization_msgs markers of RViz I wrote a small package that makes it easy to load meshes into RViz as t

Based on the visualization_msgs markers of RViz I wrote a small package that makes it easy to load meshes into RViz as t

Based on the visualization_msgs markers of RViz I wrote a small package that makes it easy to load meshes into RViz as t

Generally 4-wheel-robot localization only based on the odometry will lead to big errors. Actually, you have two too many

I updated the repo regarding that.

I implemented a python script reading an 3D file like stl or dae and outputting the full URDF XML inertial tag based on

I implemented a python script reading an 3D file like stl or dae and outputting the full URDF XML inertial tag based on

I implemented a python script reading an 3D file like stl or dae and outputting the full URDF XML inertial tag based on

I implemented a python script reading an 3D file like stl or dae and outputting the full URDF XML inertial tag based on

Hi, i want to use our Stereolabs Zed Cam to get a map in Rviz. I set up zed-wrapper (and SDK and Cuda) successfully and startet the zed.launch file to get image data. The data is broadcasted to its topics and i can get it echoing the corresponding topics. Also in rqt the images can be shown. But if i open rviz i can't see anything. No image data, no pointcloud,... I loaded the rviz config file from stereolabs and the first different point on my system is: I have no map frame. There are only the following frames availabe: base_frame, base_link, odometry_frame, zed_camera_center, zed_{left,right}_camera_{optical}_frame. I found out it could be a problem with this tricky fixed frame and got the tf-tree attached below. There i can find two subtrees... Is this correct or is this my problem? With frame base_link chosen the rviz looks as in the image below. TF says "No transform from [base_frame] to frame [base_link]. I think this is a problem, but why and how to solve it?

Yes, you can. But you can not send something with Serial.write()

MoveIt - Planning with Orientation Constaint Hi I'm planning a path between two poses with an UR10 robotic arm. I would

MoveIt - Planning with Orientation Constaint Hi I'm planning a path between two poses with an UR10 robotic arm. I would

Did you think about setting it programmatically like https://answers.gazebosim.org//question/22125/how-to-set-a-models-p

I recently created one for the UR10 but then recognized, that there is the ur_kinematics solver which is much more devel

An other thing to ask. I see there is an ikfast.h file in the ur_kinematics package. Are the ur_kinematics simply an ikf

Did you start your pycharm from a terminal?

MoveIt IKFast plugin for UR10 Hihi, i try to let a UR10 robot move to a pose using the following python code. I simply g

MoveIt! Let robot move to pose with IKFast Hihi, i try to let a UR10 robot move to a pose using the following python cod

Hi, I'm facing issues with xacro macros in ROS noetic. I have the following robot description (or a simplified version) containing one xacro macro. After the definition of the macro it is called by <robot_macro/>

Normally i have this macro defined in an other file and include it in a main xacro file, where i include a lot of macros and then build up the robot using those macros.

<?xml version="1.0"?>
<robot name="robot1" xmlns:xacro="http://ros.org/wiki/xacro">
    <xacro:macro name="robot_macro">
        <link name="robot1_base_link"/>
        <link name="beam_link">
            <inertial>
                <origin xyz="0.40 0 0.02" rpy="0 0 0" />
                <mass value="2" />
                <inertia ixx="0.003" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.09" />
            </inertial>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.6" radius="0.2"/>
                </geometry>
                <material name="white">
                    <color rgba="1 1 1 1"/>
                </material>
            </visual>
            <collision>
                <origin xyz="0.4 0 0.02" rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.6" radius="0.2"/>
                </geometry>
            </collision>
        </link>
        <joint name="beam_joint" type="fixed">
            <origin xyz="0 0 0" rpy="0 0 0" />
            <parent link="robot1_base_link" />
            <child link="beam_link" />
            <axis xyz="0 0 0" />
        </joint>
    </xacro:macro>
    <robot_macro/>
</robot>

If i load the robot description in Gazebo, i get the error message No link elements found in urdf. At first i thought it could be that the mesh files can not be found. So i decided to switch to a simple conversion from xacro to urdf for debugging my problem. But if i convert this xacro file to a urdf file using rosrun xacro xacro -o model.urdf model.xacro the resulting urdf contains no links and joint:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from mira3d.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robot1">
  <robot_macro/>
</robot>

If i remove the two xacro macro lines around the links and joint (and the call of the macro), its working as expected. I am pretty sure, i used the xacro description like it is in Kinetic and Melodic before and had no problems with it. I also think the macro looks like the example on http://wiki.ros.org/urdf/Tutorials/Us...

Can you see any issue with it or is there any change in xacro macros in noetic?

XACRO Macro Noetic not working Hi, I'm facing issues with xacro macros in ROS noetic. I have the following robot descri

If i remeber correctly, the problem was that both machines did work with other ROS versions.

Are you sure, your world is properly fromatted?

Where did you catkin build?