Provide example URDF/SRDF/Launch

[pbeeson]

I just tried to start contributing to this, but I quickly ran into issues. After building and running (no problems), I started to use the editor. I loaded up a few URDFs, and tried to do something simple, like change the origin of a link. This doesn't seems to have an effect, but I get errors like below (that seems to want an SRDF?) over and over. Is there a test URDF/launch file that someone can commit that would allow a new contributor to quickly get up and running?

[ERROR] [1459178324.249807478]: Robot semantic description not found. Did you forget to define or remap '/urdf_builder/ros_workbench_semantic'?
[ INFO] [1459178324.249882656]: Loading robot model 'fetch'...
[ INFO] [1459178324.249929180]: No root joint specified. Assuming fixed joint

[swhart115]

I'm getting these errors, but my changes to visual scales and origins are showing up in the display. However, there is a 1-2s "freeze" upon any change that makes any update very sluggish. Forgive my newbishness here, this could be expected behavior at this point.

[ShawnSchaerer]

There are lots of issues with the code :) Welcome to the project and happy bug swishing ;)

[Levi-Armstrong]

Thank you for your interest and below is some information that may be helpful.

The 1-2s "freeze" is currently an expect behavior. What is going on every time a change is made a new URDF string is written to the ros parameter ros_workbench forcing the rviz visualizer to rebuild the urdf. This is not ideal but it allows for the developers to add functionality until a better solution is implemented.

Also the error below can be ignored.

[ERROR] [1459178324.249807478]: Robot semantic description not found. Did you forget to define or remap '/urdf_builder/ros_workbench_semantic'?

You can add the ABB repository to the same workspace and then test a few of them. I have not tested the latest version of CAD-to-ROS but about two weeks ago I was able to change the origin and visualize the change. I will pull down the latest tomorrow and see if this is still functional.

[swhart115]

Thanks Levi.

Also, I'm not seeing origins for all links. It appears that if the default transformation is 0 in the urdf, the fields dont even get loaded in the GUI.

For example:

I can file this as another ticket (I dont think there is one about this), if this is not just a problem for me. I mention it here because it makes it tricky to test this issue.

[Levi-Armstrong]

This is an intended behavior to not show properties that are set to default values. Now whether this is correct is up to the Users/Developers to decided. The idea was to provide right click option to prevent the property window from getting cluttered with all possible properties. There is a pull request that I believe adds all of the right click options.

[swhart115]

ok, i see. yeah, as long as there's a right-click option to show a "hidden" value upon request, that seems reasonable.

[gavanderhoorn]

@pbeeson: does ddccc2bf at least partially cover your request for a launch file?

[pbeeson]

Yes.

[gavanderhoorn]

I vote to close this issue, as the main thing it asks for (at least according to the title) "an example launch file" was added in ddccc2b, and a set of test / example models was added with the merge of #68.

Is that ok with you @pbeeson?

[gavanderhoorn]

@swhart115: if the problem with the invisible origins still exists, could you report that in a new issue? It sounds like it's another manifestation of #56?

[pbeeson]

I am fine with closing this.

[gavanderhoorn]

Ok, thanks.