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galou / freecad.cross

CROSS CAD and ROS, an Open-Source Synergy; ROS workbench for FreeCAD
GNU Lesser General Public License v2.1
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There is bug calculating robot link positions in robot #26

Open sprhawk opened 6 months ago

sprhawk commented 6 months ago

I'm using this model or this one

image

Left one is result of import urdf or xacro, right one is create assembly from urdf or xacro

And I try to use Set Placement to move some additional models via assembly LCS, but it seems the calculation of Placement is based on parent's Origin, not considered on hierarchy of Links. ( links of transformation of Placements )

galou commented 6 months ago

Do you have a ROS2 port of the package so that I don't need to port it myself?

sprhawk commented 6 months ago

Do you have a ROS2 port of the package so that I don't need to port it myself?

edi_arm_description.zip

Take a try.

galou commented 6 months ago

The link to the file is broken.

sprhawk commented 6 months ago

The link to the file is broken.

updated again

galou commented 6 months ago

I can open robot.xacro by importing it as a Robot but the files go2_full.urdf and go2.urdf cannot be opened in CROSS because they cannot be parsed by the underlying library urdf_parser_py. The issue is the presence of <?xml version="1.0" encoding="utf-8"?>. Remove it to make urdf_parser_py happy.

I didn't find the file go2_description.urdf in your archive.

sprhawk commented 6 months ago

I can open robot.xacro by importing it as a Robot but the files go2_full.urdf and go2.urdf cannot be opened in CROSS because they cannot be parsed by the underlying library urdf_parser_py. The issue is the presence of <?xml version="1.0" encoding="utf-8"?>. Remove it to make urdf_parser_py happy.

I didn't find the file go2_description.urdf in your archive.

Dose it show in correct position ? like the image I posted in right ?

galou commented 6 months ago

Yes.