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PilzDE / pilz_robots

PILZ robot manipulator module PRBT 6 in ROS
https://wiki.ros.org/pilz_robots
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Reduce planning context to urdf model in urdf_tests.test #451

Closed martiniil closed 4 years ago

martiniil commented 4 years ago

Fixes #449

Open issue of this ansatz: Loading a robot model without srdf leads to an error:

[ERROR] [1596483123.752162225]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
martiniil commented 4 years ago

Despite the error message shown above, creating a robot_model without srdf works fine, see http://docs.ros.org/indigo/api/moveit_ros_planning/html/robot__model__loader_8cpp_source.html#l00097

00097   if (rdf_loader_->getURDF())
00098   {
00099     const boost::shared_ptr<srdf::Model>& srdf =
00100         rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : boost::shared_ptr<srdf::Model>(new srdf::Model());
00101     model_.reset(new robot_model::RobotModel(rdf_loader_->getURDF(), srdf));
00102   }
jschleicher commented 4 years ago

An Error message during the test is fine for me - just add a comment inside the test code.

[ERROR] [1596483123.752162225]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?