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ADVRHumanoids / iit-centauro-ros-pkg

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Capsules not generated #13

Closed torydebra closed 3 years ago

torydebra commented 3 years ago

Hi,

To try cartesio_collision_support I need the urdf with capsules:

    collision_urdf_path: $(rospack find centauro_urdf)/urdf/capsule/centauro_capsules.urdf
    collision_srdf_path: $(rospack find centauro_srdf)/srdf/capsule/centauro_capsules.srdf

but it seems that this _capsules urdf is not generated by the create_urdf_srdf script.

The output of the script says:

Creating capsule urdf of centauro.urdf.xacro ...
./create_urdf_srdf_sdf.sh: riga 88: robot_capsule_urdf: comando non trovato
...centauro_capsules.urdf correctly created!

Is something missing in the command to create this urdf?

            printf "${PURPLE}Creating capsule urdf of ${robot_name}.urdf.xacro ...${NC}\n"
            robot_capsule_urdf ${model_filename}.urdf --output
            printf "${GREEN}...${model_filename}_capsules.urdf correctly created!${NC}\n"

Thanks! @liesrock @EnricoMingo @alaurenzi

alaurenzi commented 3 years ago

@EnricoMingo can comment better on how to do the generation; in the meantime, I've pushed the generated files on the casannis-walking branch.

EnricoMingo commented 3 years ago

Hi, yes you need to download the packages for the capsules generation that are in particular:

Il giorno ven 7 mag 2021 alle ore 10:12 Arturo Laurenzi < @.***> ha scritto:

@EnricoMingo https://github.com/EnricoMingo can comment better on how to do the generation; in the meantime, I've pushed the generated files on the casannis-walking branch.

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torydebra commented 3 years ago

Ok, thanks :+1:

torydebra commented 3 years ago

May I have the capsule urdf also for cogimon? So I do not have to install all the stuff