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I am trying to parse the urdf file of the ur3e robot (in order to in the end create kdl tree from it and get jacobians transforms and stuff). I did the same thing as described in Tutorial. When I tried to parse the ur3e_robot.urdf.xacro file with it i got the following error:

[ERROR] [1591372211.741488524]: Failed to build tree: child link [base_link] of joint [world_joint] not found
[ERROR] [1591372211.741628307]: Failed to parse urdf file

I seems that "URDF models start with a link at the root, but In MoveIt, models start with a joint." according to this. Maybe that is the reason why it can't be parsed? Anyone an idea how to do this?

Get velocities of robot links from /tf Hi everyone So, what I basically need is the absolute velocities (angular and li

Thanks for pointing that out. It wasn't the reason for the problem but it was obviously wrong to not return after the ex

Thanks. You were right. The problem was not with the code but with the data in the messages I was using.

Hello everyone I use tf2_ros::Buffer.transform() to transform a geometry_msgs::WrenchStamped into ageometry_msgs::WrenchStamped in another frame at the same time. So the syntax is:

tf2_ros::Buffer.transform(geometry_msgs::WrenchStamped wrenchStamped1, geometry_msgs::WrenchStamped wrenchStamped2, const std::string & target_frame, ros::Duration timDur);

It seems to work fine but the wrenchStamped2 has an empty timestamp. Is this on purpose by the function and do I need to manually assign the timestamp?

The code looks basically like this (msg is the message from the subscriber callback function this code snippet is part of):

 geometry_msgs::WrenchStamped msgWrench = msg->wrench;
 msgWrench.header = msg->header;
 msgWrench.header.frame_id = "EE_FORCETORQUESENSOR";

 geometry_msgs::WrenchStamped worldFrameWrenchFTSensorStamped;
  try 
  {
    ros::Duration timDur(0.1);
    std::string target_frame_("world");
    buffer_.transform(msgWrench, worldFrameWrenchFTSensorStamped, target_frame_, timDur);
  }
  catch (tf2::TransformException &ex) 
  {
    ROS_WARN("Failure %s\n", ex.what()); //Print exception which was caught
  }

  worldFrameWrenchFTSensorStamped.header = msgWrench.header;

Sorry. I added the code. I hope it is clear what i am doing there.

tf2_ros::Buffer.transform() missing timestamp Hello everyone I use tf2_ros::Buffer.transform() to transform a geometry_m

tf2_ros::Buffer.transform() missing timestamp Hello everyone I use tf2_ros::Buffer.transform() to transform a geometry_m

tf2_ros::Buffer.transform() missing timestamp Hello everyone I use tf2_ros::Buffer.transform() to transform a geometry_m

Hi

Can anyone explain to me what arm_controller and joint_group_position_controller in universal robots work? And what is their difference? I get that they are both used for controlling the joints (by position, velocity or effort) but why are both of them needed?

Accuracy of KDLs ChainIdSolver_RNE Hi everyone, I was wondering, have there been some tests of how accurate the results