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turtlebot / turtlebot_create

It keeps iRobot Create specific packages
http://www.ros.org/wiki/turtlebot_create
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"Error: No link elements found in urdf file" upon check_urdf command #32

Closed 130s closed 8 years ago

130s commented 8 years ago

URDF I generated from xacro files cause an error. Same occurred on Indigo-Trusty and Kinetic-Xenial.

$ more /opt/ros/indigo/share/create_description/urdf/create_gazebo.urdf.xacro 
<?xml version="1.0"?>

<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot_gazebo">
        <xacro:macro name="sim_create">
          <gazebo>
            <plugin name="create_controller" filename="libgazebo_ros_create.so">
              <alwaysOn>true</alwaysOn>
              <node_namespace>turtlebot_node</node_namespace>
              <left_wheel_joint>left_wheel_joint</left_wheel_joint>
              <right_wheel_joint>right_wheel_joint</right_wheel_joint>
              <front_castor_joint>front_castor_joint</front_castor_joint>
              <rear_castor_joint>rear_castor_joint</rear_castor_joint>
              <wheel_separation>.260</wheel_separation>
              <wheel_diameter>0.066</wheel_diameter>
              <base_geom>base_footprint_collision_base_link</base_geom>
              <updateRate>40</updateRate>
              <torque>1.0</torque>
            </plugin>
          </gazebo>

    <gazebo reference="left_wheel_link">
      <mu1>1.0</mu1>
      <mu2>1.0</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>
    </gazebo>
: (skip. https://github.com/turtlebot/turtlebot_create/blob/3a4803dd7ae741fecc52b602aa154403e7a58f7b/create_description/urdf/create.urdf.xacro)
$ rosrun xacro xacro `rospack find create_description`/urdf/create.urdf.xacro -o /tmp/irobot_create.urdf
$ check_urdf /tmp/irobot_create.urdf 
Error:   No link elements found in urdf file
         at line 180 in /build/buildd/urdfdom-0.2.10+dfsg/urdf_parser/src/model.cpp
ERROR: Model Parsing the xml failed
$ more /tmp/irobot_create.urdf 
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /opt/ros/indigo/share/create_description/urdf/create.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="turtlebot_hardware" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Macro for TurtleBot body. Including Gazebo extensions, but does not include Kinect -->
</robot>
(Indigo)
$ dpkg -p liburdfdom-dev ros-indigo-xacro ros-indigo-create-description|grep Vers
Version: 0.2.10+dfsg-1
Version: 1.9.5-0trusty-20160628-114306-0700
Version: 2.3.0-0trusty-20160629-001336-0700

(Kinetic)
$ apt-cache show liburdfdom-dev ros-kinetic-xacro ros-kinetic-create-description |grep Vers
Version: 0.4.1-1
Version: 1.11.0-0xenial-20160603-184331-0700
Version: 2.3.1-0xenial-20160624-182158-0700
130s commented 8 years ago

Turned out this is the same issue as https://github.com/turtlebot/turtlebot_create/issues/29 that is already answered https://github.com/turtlebot/turtlebot_create/issues/29#issuecomment-173731835