Moving model out of origin gives error

asked 2017-06-20 19:28:09 -0600

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

I'm trying to move hector_quadrotor from origin to position (-12, -1, 0) in the world, but I get this error:

propulsion model input contains **!?* Nan values!
drag model input contains **!?* Nan values!

My code to place it in the word follows:

<xacro:macro name="quadrotor_base_macro">
<link name="base_link">
  <inertial>
    <mass value="1.477" />
    <origin xyz="-12 -1 0" />
    <inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218" />
  </inertial>

  <visual>
    <origin xyz="-12 -1 0" rpy="0 0 0" />
    <geometry>
      <mesh filename="package://rodain_hector_quadrotor_description/meshes/quadrotor/quadrotor_base.dae"/>
    </geometry>
  </visual>

  <collision>
    <origin xyz="-12 -1 0" rpy="0 0 0" />
    <geometry>
      <mesh filename="package://rodain_hector_quadrotor_description/meshes/quadrotor/quadrotor_base.stl"/>
    </geometry>
  </collision>
</link>

<!-- Sonar height sensor -->
  <xacro:sonar_sensor name="sonar" parent="base_link" ros_topic="sonar_height" update_rate="10" min_range="0.03" max_range="3.0" field_of_view="${40*pi/180}" ray_count="3">
    <origin xyz="0.16 0.0 -0.012" rpy="0 ${90*pi/180} 0"/>
  </xacro:sonar_sensor>

</xacro:macro>

The code to the sensor is this link https://github.com/tu-darmstadt-ros-p...

edit retag flag offensive close merge delete