Failed to add forward kinematic chain solver KDLFwdKinChain for manipulator manipulator to manager!

[decdox]

Hello,

When i was creating the srdf using tesseract ignition wizard for the Kinova Gen3 7DOF manipulator, which urdf can be found at kortex_description. There are some troubles and can you give some tips?

• When using a single arm without a gripper model (obtained by running rosrun xacro xacro gen3.xacro > gen3.urdf), error comes up:

  Error:   Failed to add forward kinematic chain solver KDLFwdKinChain for manipulator manipulator to manager!
       at line 885 in /root/parts/tesseract-workspace/build/src/tesseract/tesseract/tesseract_environment/src/core/manipulator_manager.cpp

  and if we continue the following setup step, in step User defined joint state, only three joint are displayed (it should be 7 joints). See figure below.

• When using a coupled model with both arm and gripper (obtained by running rosrun xacro xacro gen3_robotiq_2f_85.xacro > gen3_robotiq_2f_85.urdf), after clickingLOAD`, the scale seems to be wrong. See figure below.

I found an issue about this at issue #317. which is posted two years ago. I think the potential reason for this might be that tesseract-setup-assistant cannot identify the scale parameter in urdf. So how can the wizard parse a urdf with scaling dae at present correctly?

Thank you.

[Levi-Armstrong]

Sorry, we are in the process of moving everything to Tesseract Studio found in the tesseract_qt repository.