ros-industrial-consortium / hilgendorf Goto Github PK

Add an image to the repo README file so that people can see what the robot configuration looks like.

When I input roslaunch hilgendorf_moveit_config demo.launch in terminal, there is an error occurred.

while processing /home/scw/catkin_ws/src/hilgendorf/hilgendorf_moveit_config/launch/planning_context.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/hydro/share/xacro/xacro.py '/home/scw/catkin_ws/src/hilgendorf/hilgendorf_support/urdf/hilgendorf.xacro'] returned with code [1]. 

Param xml is <param command="$(find xacro)/xacro.py '$(find hilgendorf_support)/urdf/hilgendorf.xacro'" if="$(arg load_robot_description)" name="$(arg robot_description)"/>

why the error occurred and how I run the roslaunch command.

Why call this package hilgendorf_support instead of the usual hilgendorf_description followed by most ROS robots?

I'm using this URDF for some research in pre-processing a roadmap for repeated use motion planning and I'm noticing that the camera stem in the torso of the model is causing a lot of discontinuity in the confiugration space. This means that there are many states behind the support structure that cannot be connected to the graph from the rest of the free space, and my algorithms run far far slower because they are trying to find connectivty around it. Does anyone know where I can get the base STL for this model without the camera stem attached? It doesn't need to be merged into this repo per se.

This leads to errors when trying to load the xacro on systems that don't have it installed.

Hi

Both the ur drivers seem to be set up to subscribe to one action server in the example files. This seems to run fine except every time you send a message for one arm the other's driver gives an error as the joint names are incorrect for it.

Should each have its open set of "/follow_joint_trajectory" topics or am I missing something in how this should function?

This the code I am using to test with: https://s3-eu-west-1.amazonaws.com/data.re.je/twins_move.py

Thanks for any tips.