Skip to main content

Questions tagged [xacro]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
0 votes
1 answer
22 views

Separate ros2_control hardware interfaces for the joint's state and command interfaces

I have a 5 DoF manipulator, driven by K-tech CAN motors (controlled with raw CAN frames, by one CAN bus). Each of these motors has a built-in gear, an absolute single-loop encoder and an embedded ...
0 votes
0 answers
12 views

Setting up UR3e with ROS2 Iron - missing xacro files?

I have what seems to be a working installation of ROS2 Iron, and I have installed the UR driver https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main/ur_robot_driver to work with ...
0 votes
3 answers
135 views

Creating N links using a For Loop in Xacro

I wonder if it is possible to construct a for loop to build N wheels sub-assemblies for a mobile robot in a xacro.urdf file. I have already created an URDF using Xacro for the mobile robot and the ...
1 vote
1 answer
55 views

[gazebo_ros2_control]: parser error Couldn't parse parameter override rule

I am new to ROS2 and I encounter some strange parsing error when I try to launch my gazebo simulation. I am using ROS2 Iron on a Ubuntu 22.04 VM Here is my project repository That repo works fine ...
0 votes
2 answers
519 views

Unable to parse URDF using command line but can do it in launch file

Hi, I am beginning to learn ROS and have encountered a strange issue. I have created 2 packages called, my_first_cpp_pkg and urdf_example, which contain xacro xmls of their own for URDF creation. I am ...
1 vote
1 answer
133 views

This robot has a joint named "screw_right_first_2_to_right_first_joint_1" which is not in the gazebo model

While trying to transfer my robot to the Gazebo environment, I get an error like this: ...
1 vote
1 answer
18 views

How to integrate omnidirectional base and redundant manipulator

I have been working on integrating a panda (from Franka Emika) and a summit-xl-steel in ROS noetic. I am not an expert on ROS, but I have integrated the two xacro files, and now I get an error saying ...
0 votes
2 answers
28 views

Mesh optimization for "fast" simulation

Hi, i created a robot model with some links. All links are meshes, like the UR10 from Universal Robotics has its shoulder_link, elbow_link and so on. For example the simulation for the UR-10 uses the ...
0 votes
0 answers
7 views

franka_hw/FrankaModelInterface and franka_hw/FrankaStateInterface transmission has more than one joint issue

I'm launching two panda robots in gazebo to use them with a custom controller. I edited the original dual_panda_example.urdf.xacro in order to use it in simulation as my controller needs both ...
0 votes
0 answers
9 views

parsing errors when launching two robots from the same urd.xacro file

I'm trying to launch two panda robots from the same urdf file but I'm stuck as is giving me parsing errors when I launch two robots together. If I try to launch one it works but not with two (I ...
0 votes
1 answer
46 views

A problem occurs in tf while outputting robot_description to rviz

I created and ran a urdf file by combining several examples. When simply launched to view in rviz, tf_tree was produced normally. However, since I added a controller and output it to ...
0 votes
1 answer
235 views

How to convert xacro file to urdf at ROS2?

I have a .xacro file exported from Fusion360. I want to convert it to .urdf to use at moveit2. How can I do this?
0 votes
1 answer
32 views

Why Does My Gazebo Simulated Truck Move Well in an Empty World But Not in Complex Environments Like Sonoma Raceway?

I am simulating a truck in Gazebo, which operates well in a minimal empty world, responding effectively to cmd_vel commands sent via the bcr_teleop package. However, when the simulation is run in more ...
0 votes
1 answer
355 views

ros2 launch file syntax error - XacroException: No such file or directory: + - InvalidFrontendLaunchFileError:

I have an issue when trying to execute a python launch file. Whenever I execute the file I get the following error: ...
0 votes
0 answers
19 views

How to combine two robot models in gazebo?

I have two robots, one is P3Dx and the other is Kinova Gen3 lite. I want to create a mobile manipulator combining these two robots. I have the respective packages and they contain the URDF files. How ...
0 votes
1 answer
36 views

Reading a ros2_control xacro file in a regular node

I have a xacro file that I used for a specific piece of hardware. I figured out how to store custom data structures within the gpio framework within ros2_control example: ...
0 votes
0 answers
31 views

Invoke xacro macro in a launch file

I've been creating this stand alone urdf.xacro file to enact my macros. Is there a way to invoke/call a xacro macro from a python launch file and pass parameters? I've provided the file below. I'm ...
0 votes
1 answer
62 views

Inertia Element Conversion Issues in URDF to SDF in ROS2 Iron (Worked in Galactic)

I am encountering an issue in ROS2 Iron that wasn't present in ROS2 Galactic, related to the conversion of a URDF file (generated from XACRO) to SDF, specifically regarding the inertia elements. I am ...
0 votes
1 answer
60 views

Can set friction direction based on link cordinate in URDF

I'm a beginner at gazebo and ROS. I'm trying to make mobile robot which propels itself using the friction force normal to the direction of wheel. I want to use cylinder as wheel, and set the friction ...
0 votes
1 answer
60 views

xacro formatting xacro file property with given param

thisis my example xacro file and I need to change robot_namespace property's value ...
0 votes
0 answers
16 views

Is it possible to use expression evalutions ${} to call Xacro namespace macros to create lots of robots efficiently? Want to avoid hard-coding

The below code is incorrect. Is there a way to do this properly to potentially make a macro that creates lots of robots. ...
0 votes
1 answer
218 views

How do you pass params into another Xacro file via xacro:include? How does the other Xacro file receive that input?

How do you use xacro:macro and arg to include 2 of the same robot in your URDF? I'm using args for each Xacro file to read the ...
0 votes
2 answers
235 views

ROS2: using xacro in launch file - passing parameters

Hi there, I've been using xacro.process_file(<file_name>)to convert from xacro to urdf, it works just fine. Now I have implemented a xacro argument in my file ...
0 votes
0 answers
114 views

xacro: Substitution args not supported: cannot import name 'Log' from 'rosgraph_msgs.msg' in ubutnu desktop 22.04

I am very new to ROS2 and have only been practising for a few days so i am having a really tough time trying to find the solution. I am on a dual boot PC with Windows 11 and Ubuntu 22.04, and i am ...
0 votes
0 answers
84 views

Could not render URDF file due to an error

Could not render URDF due to the following error: ...
0 votes
0 answers
168 views

How to pass to URDF to robot_state_publisher in YAML launch file?

I am writing a simple YAML launch file to launch my URDF. With robot_state_publisher publishing the robot description to rviz2. But how do i pass the output of ...
0 votes
2 answers
83 views

ROS Noetic. How can I manage origin of coordinates for each STL model in Rviz?

I'm having troubles with model origin of coordinates location in relation to STL models. All ones are outside the models. I tried to move it to center of mass in SolidWorks, but it didn't fix the ...
1 vote
0 answers
18 views

How to define zero joint state reference value in URDF/XACRO?

When defining the robot URDF/XACRO file we set links and joints. By default the joints states are zero on spawning. Is there a way to redefine the reference value of the joints states, essentially ...
0 votes
2 answers
241 views

xacro processing in ROS 2 YAML launch files (or XML)?

I'm trying to use YAML launch files for a Gazebo simulation project I'm working on, but it doesn't seem like there's a lot of documentation beyond the basics here. I need to process a robot ...
0 votes
1 answer
91 views

[gazebo 11] How to set a default variable/parameter in xacro

I have a main xacro file where I am calling another xacro as such: ...
0 votes
1 answer
143 views

Unable to load panda.urdf.xacro in gazebo fortress

Ubuntu : 22.04 Ros version : Rolling gazebo : fortress i am trying to load a panda robot in gazebo fortress but couldn't really find any basic tutorial. so i tried to write some launch files but ...
0 votes
1 answer
4 views

The xacro files don't seem to work with each other. (ubuntu 20.04 noetic) R

Hello, everyone! An error occurred while configuring the robot arm as an xacro file. The current simple model looks like this: ...
0 votes
1 answer
17 views

ROS2 python launch, how to forward launch arguments to xacro models

Hi I like to use LaunchArgument to process my xacro file, which contains my robot model for gazebo and the robot_description for my robot_state_publisher. ...
0 votes
3 answers
106 views

Calculating inertial matrix for Gazebo

I am having issues following the tutorial to calculate the inertial matrix for my gripper. This is the behaviour I see. I am able to successfully create a config package with PR2 gripper, so I am ...
0 votes
1 answer
217 views

[ROS2] Any idea on how to pass parameters (YAML) to a Xacro file via launch python script?

In my launch python script I can load and pass parameters from a .yaml file into my code without any problem: ...
0 votes
1 answer
13 views

parameter passed to xacro not changing the default one

I'm trying to make a .xacro file for a UR5e robot, that allows choosing the gripper at launch, which means choosing different macros inside of it and I'm doing it based on the answer here. The setup ...
0 votes
1 answer
86 views

Xacro Macro Param Not defined

I have a xacro file that has some generic macros for inertia. Currently using this for Noetic but I used the exact file on a previous project in Melodic. The error I get is: name 'm' is not defined ...
0 votes
1 answer
206 views

ROS Noetic xacro issue - Cannot load command parameter [robot_description] returned with code [2]

OS: Ubuntu 20.04.4 LTS Kernel: Linux 5.13.0-35-generic Architecture: x86-64 ROS distro: ROS Noetic I am trying to launch my turtlebot3 for a school assignment in the gazebo ...
0 votes
1 answer
208 views

Reading from yaml file in xacro?

Hi I am trying to read the parameters in a yaml file to my URDF using xacro. I understand that the values will be imported as a dictionary. I am able to retrieve the values when the yaml file has a ...
0 votes
2 answers
51 views

Universal Robot URDF and xacro structure

Hi all, I am trying to create a custom environment for my UR5e robot and having a little bit of a problem understanding the file structure. I would like to have a fixed, not moving object around 1 ...
0 votes
1 answer
86 views

[Gazebo] child link "base_link" not found (World -> UR5)

I am working on a Gazebo simulation of a UR5 with a Robotiq 2f gripper (ROS Melodic + Ubuntu 18.04) and created my xacro file by loading the ur5 description, creating a world link and attaching the ...
0 votes
1 answer
21 views

Using xacro for robot description does not work

Hi, I defined a model using the urdf and everything works fine. However, when I replace one of the links with a macro, the link is not built to form the tree. the xacro file: links_joints.xacro` ...
0 votes
1 answer
18 views

correct model design for grasping (Moveit)

Hi! I am relative new to ROS and Moveit. I am using ROS noetic. For a research project, I want to realize automated trajectory planning for an FANUC industrial robot for handling pipes with high ...
0 votes
1 answer
119 views

Set xacro arguments when parsing a file using Python (ROS2)

Is it possible to set arguments when parsing a file using the python xacro library? In ROS2, a number of packages parse xacro files directly in the launch file using the python xacro library, with ...
0 votes
2 answers
4 views

xacro prase the value from YAML by giving variable

Environment: ROS Noetic, Gazebo11 I try to use xacro with YAML, but there is a problem about argument of variable: My yaml: ...
0 votes
1 answer
38 views

ROS2 xacro parsing: ${robot_ip} vs $(arg robot_ip)

Recently, I found this does not parse: $(arg robot_ip) Whereas this does parse: ${robot_ip} Do they have different purposes? ...
0 votes
1 answer
28 views

How to add a tool from a STL file

Hello, I'm new at ROS (kinetic 1.12.17, Ubuntu 16.04 LTS) and I want to know how can I add a tool to a robot, having the tool in STL format. I'm working with the Robotnik's RB-Kairos robot with the ...
0 votes
1 answer
28 views

How to assign xacro arguments to xacro macro parameters?

I am initialising a macro in my xacro file as ...
0 votes
1 answer
84 views

Importing mesh .dae file in ros noetic

Hello everyone. I am trying to import a mesh(.dae) file into .xacro in (ROS noetic): ...
0 votes
4 answers
313 views

how to convert xacro file to urdf file?

i wanna know the command used to convert xacro file to pure urdf file , Thanks for ur help Originally posted by mhossameldin on ROS Answers with karma: 151 on 2011-06-27 Post score: 15 Original ...

1
2 3 4 5