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Kinovarobotics / ros2_kortex

ROS2 driver for the Gen3 Kinova robot arm
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gen3_macro.xacro can't be used to generate urdf #175

Open patrickwasp opened 11 months ago

patrickwasp commented 11 months ago

running xacro src/ros2_kortex/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro returns

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from src/ros2_kortex/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="gen3_arm">
</robot>

this causes moveit setup assistant to crash with Error: No link elements found in urdf file

felixmaisonneuve commented 11 months ago

Hi @patrickwasp,

We usually run the xacro command on the gen3_robotiq_2f_85.xacro and gen3_robotiq_2f_140.xacro files (in kortex_description/robots folder), so some arguments are specified https://github.com/Kinovarobotics/ros2_kortex/blob/a2f018ab8c39e97fe91f57c27b8e59852b029da4/kortex_description/robots/gen3_robotiq_2f_85.xacro#L6-L13

If you run the xacro command on the gen3_macro.xacro file directly, arguments are not specified, so things might not work. E.g. here the file cannot be found correctly because dof is not defined https://github.com/Kinovarobotics/ros2_kortex/blob/main/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro#L35

This probably explains why your file is empty.

What you could do is run the xacro command on the gen3.xacro file (in kortex_description/robots) and specify the arguments manually instead something like xacro src/ros2_kortex/kortex_description/robots/gen3.xacro arm:=gen3 dof:=6 vision:=false...

Hope this helps, Felix

patrickwasp commented 11 months ago

Since this xacro file is in kortex_description/arms/gen3/6dof/, which already specifies 6dof, could we have 6 be set as the default in the gen3_macro.xacro file?

felixmaisonneuve commented 11 months ago

You can do make the modification on your side, but since the default use case does not require you to convert this file directly, I would prefer not to change it