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URDF rules that can be load #1
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Hi, This setup assistant is mainly for quadrupedal robots, for this project to be exact - https://github.com/chvmp/champ. Unless you meant, you’re loading a quadrupedal robot’s URDF with a robotic arm? |
Thank you for your prompt reply. I know the purpose of the tool is champ. I interested if a simple robot arm could be used instead of the URDF of a quadrupedal robot equipped with a robot arm. |
@grassjelly This means that a URDF that doesn't have 4 endlinks will not be added to the list and will fail? |
The function acts as a filter by removing a potential manipulator in the urdf file. This works by checking the number of actuators in each chain and counting how many times that number occured. If that number has occurred 4 times(4 legs) most likely the end link belongs to a leg, otherwise it will omit. |
It was helpful. Thank you very much. Incidentally, I tried to generate it with the URDF file of "https://github.com/ReactRobotics/DogBotV4/tree/master/ROS". [WARN] [1596091560.599070]: base_joint's xyz are not defined. Setting these values to zero When I try the generated file with the command: "$ roslaunch bringup.launch rviz:=true", it looks like the picture. |
Can you please post this as a separate thread in the champ repository instead as it's a different issue. Thanks! Closing this for now. |
fix issues when running in noetic
Hello.
Thank you for making a great tool.
Is there a rule in URDF that this tool can load?
The sample URDF, ANYMAL, loaded successfully.
However, I was not able to read the URDF of a completely different 3-axis robot arm.
The error message: "poll failed with error Interrupted system call" is displayed and the process ends.
Thank you.
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