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PacktPublishing / ROS-Robotics-Projects-SecondEdition

ROS Robotics Projects, published by Packt
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Chapter 3 Xacro files and urdf files results are different while xacro being wrong #9

Open rohitdavas opened 3 years ago

rohitdavas commented 3 years ago

W.r.t to chapter 3 I would like to raise some issues. ROS - Noetic

Issue one : roslaunch robot_description arm_gazebo_control.launch and roslaunch robot_description arm_gazebo_control_xacro.launch produces different results.

The results can be seen below.

arm_urdf_correct

arm_xacro_wrong

  1. Manipulator urdf file launch gives correct results while xacro file throws error. Plus in source code of manipulator xacro launch you are launching the urdf file only.

Screenshot from 2021-04-07 14-52-11

result of xacro launch

manipulator_xacro_file_wrong

result of urdf file launch manipulator_urdf_correct

I have also checked whether urdf files generated through rosrun xacro xacro filename > outfilename are working or not. They are giving the same error. I have spent many hours thinking I was making some mistake.

rishabkr29 commented 1 year ago

Hey... Can you tell me which standard Robotic arm has been used in this project ? can you give me the reference of Inverse Kinematics of this robot ?