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link position not in correct position

asked 2018-05-23 11:25:46 -0500

hari1234 gravatar image

updated 2018-05-23 12:10:39 -0500

<robot name="blackBird">

  <link name="body">

    <visual>
      <geometry>
        <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
      </geometry>
      <material
        name="">
        <color
          rgba="0 1 0 1" />
      </material>
    </visual>

    <collision>
      <geometry>
        <mesh filename="package://urdf_tutorial/meshes/body.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.03410357" ixy="0.00003043" ixz="0.000043960" iyy="0.003279236" iyz="0.0" izz="0.000259210"/>
    </inertial>

  </link>
  <link name="blade">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 10"/>
      <geometry>
        <mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 0.8 1"/>
      </material>
    </visual>

    <collision>
      <geometry>
        <mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.000251114" ixy="0.000002954" ixz="0.000185428" iyy="0.003055804" iyz="0.0" izz="0.002817239"/>
        </inertial>

      </link>

      <joint name="joint1" type="continuous">
        <parent link="body"/>
        <child link="blade"/>
        <axis xyz="0 0 1"/>
        <origin xyz="0.105987 3.12205 12.4372"/>
      </joint>

    </robot>

above is the urdf of model. here no matter how much i change the position of the link blade, it's position don't changes from one position. image description

above is the urdf of model. here no matter how much i change the position of the link blade, it's position don't changes from one position. image description

what should i do? i have placed its position in blender correctly. i'm using gazebo 9. when i place its position as 0 0 0 its position comes correctely but the joint position is at 0 0 0. so the problem is when ever i change the position of the joint the position of the blade link also chagnes. in rviz the model with joint position 0 0 0: image description

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answered 2018-05-24 13:16:00 -0500

skej gravatar image

I think you need to change the position inside the visual tag. Try changing the xyz = "0 0 10" to xyz="0 0 0". The visual pose is with reference to the origin of the link.

<link name="blade">
<visual>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <mesh filename="package://urdf_tutorial/meshes/blade.dae"/>
  </geometry>
  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>
</visual>
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Asked: 2018-05-23 11:25:46 -0500

Seen: 317 times

Last updated: May 23 '18