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Questions tagged [xacro]

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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. ...
Yato's user avatar
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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 ...
vibrantcloud's user avatar
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How to debug Gazebo Garden crashing on loading a robot description

I'm trying to load a robot description into Gazebo Garden in my Humble install. I'm following the instructions on how to migrate from Gazebo Classic to Garden. The xacros are unchanged and load fine ...
Karim Virani's user avatar
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gazebo wrong tf alignment

ROS Noetic, ubuntu 20.04 So I was trying simulate a robot in gazebo environment with ROS. The base I used is bunker. I basically added in a VLP-16 and kinect camera similar to how they did it in ...
John's user avatar
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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 ...
Kat's user avatar
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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 ...
stanislawix's user avatar
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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 ...
mikel lasa's user avatar
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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 ...
mikel lasa's user avatar
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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 ...
Ashutosh Sahu M22RM001's user avatar
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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 ...
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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 ...
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Could not render URDF file due to an error

Could not render URDF due to the following error: ...
Tejas Bhurbhure's user avatar
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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 ...
uber_robo's user avatar
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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 ...
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