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Hi, I am following the tutorial about urdf. In example 08-xacro, I don't understand why when defining the xacro:macro for a link/visual tag, there are two origin tags before and after geometry tags.

  <visual>
    <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
    <geometry>
      <cylinder radius="${wheeldiam/2}" length="0.1"/>
    </geometry>
    <material name="black"/>
    <origin xyz="0 0 0" rpy="0 0 0" />
  </visual>

Thank you very much for your help.


Originally posted by Thang Nguyen on ROS Answers with karma: 93 on 2016-11-03

Post score: 0

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1 Answer 1

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Having two origin tags does definitely not make any sense. This is wrong.

Can you link to the tutorial with this error? I didn't find it.


Originally posted by mgruhler with karma: 12390 on 2016-11-03

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by Thang Nguyen on 2016-11-03:
Here you are xacro link

Comment by David Lu on 2016-11-03:
This is wrong. I have reported it here: https://github.com/ros/urdf_tutorial/issues/22

Comment by mgruhler on 2016-11-03:
thanks @David Lu

Comment by David Lu on 2016-11-11:
Fixed on Master.

Comment by Thang Nguyen on 2016-11-11:
Thanks for updating. Can you put this as answer so I can mark question is answered?

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