Error when executing roslaunch baxter_gazebo baxter_world.launch

[fanshi14]

Dear all,

My system is Ubuntu 12.04 and I am using Hydro.

I did as this tutoial: https://github.com/RethinkRobotics/sdk-docs/wiki/Baxter-simulator

When I try to roslaunch baxter_gazebo baxter_world.launch the ouput is:

Invalid tag: Cannot load command parameter [robot_description]: command [../ros_ws/src/xacro/xacro.py --inorder ../ros_ws/src/baxter_common/baxter_description/urdf/baxter.urdf.xacro gazebo:=true] returned with code [2].

Then I tried in this way kahn@kahn:~/ros/ws_baxter$ /home/kahn/ros/ws_baxter/src/xacro/xacro.py --inorder the ouput is

/home/kahn/ros/ws_baxter/src/baxter_common/baxter_description/urdf/baxter.urdf.xacro gazebo:=true option --inorder not recognized Usage: xacro.py [-o

] xacro.py --deps Prints dependencies xacro.py --includes Only evalutes includes

Then I directly tried this kahn@kahn:~/ros/ws_baxter$ /home/kahn/ros/ws_baxter/src/xacro/xacro.py However, there are still mistakes..

/home/kahn/ros/ws_baxter/src/baxter_common/baxter_description/urdf/baxter.urdf.xacro gazebo:=true Traceback (most recent call last): File "/home/kahn/ros/ws_baxter/src/xacro/xacro.py", line 60, in xacro.main() File "", line 657, in main File "", line 245, in process_includes File "", line 474, in eval_text File "", line 461, in handle_expr File "", line 435, in eval_expr File "", line 409, in eval_term File "", line 389, in eval_factor File "", line 367, in eval_lit xacro.XacroException: Property wasn't defined: u'l_finger'

I think my problem is totally same with this guy, but his use Indigo http://answers.gazebosim.org/question/12765/error-when-executing-roslaunch-baxter_gazebo-baxter_worldlaunch/

Could anyone give me some advice?

Thx in advance!

[IanTheEngineer]

Hi there. It seems your Xacro package is out of date. Try to upgrade it to the most recent:

$ sudo apt-get install ros-indigo-xacro

You may need to upgrade all of your packages:

$ sudo apt-get update && sudo apt-get dist-upgrade

[IanTheEngineer]

Ah. ROS Hydro and 12.04. The RSDK 1.2 release is explicitly for Ubuntu 14.04 and ROS Indigo. You can either:

• Install RSDK 1.1
• Install Xacro from ROS Indigo source, and try to make it work
• Upgrade your machine / ROS

[fanshi14]

Thank you for your help. Now it worked.

And I wish to apply some advice for future users with Hydro version.

It works when you download baxter, baxter_common, baxter_examples, baxter_interface, you just choose branch of release-1.1.1.

But for baxter_simulator, they don't have 1.1.1, so I choose to use 0.9.1.

All these files could be downloaded in https://github.com/RethinkRobotics

Then enjoy it.