Kinova Jaco Arm displaying invisible links

asked 2019-10-15 14:46:04 -0600

gadese gravatar image

I've been using Kinova's JACO arm in simulation with ROS for a while now, and this issue recently appeared with no apparent change in the code or in my configuration, so I'm a bit lost right now.

When I launch the robot arm in Gazebo, some of the arm's links are completely invisible, although they do show up on the World sidebar (see ). The terminal isn't showing any error or warning.

When I send commands to the arm, it seems to be able to move without issue.

The only lead I've managed to get is when I try to vizualise the robot in Rviz as well. When I add the RobotModel in Rviz, it also shows with invisible links. However, I also get the following errors/messages:

[ERROR] [1571168387.602098046, 293.492000000]: Could not load model 'package://kinova_description/meshes/wrist.dae' for link 'j2n6s300_link_5': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://kinova_description/meshes/wrist.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[ WARN] [1571168387.602151906, 293.492000000]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://kinova_description/meshes/wrist.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

I've checked the directories, and the .dae files DO exist and are located in kinova_description. I've also checked them using https://www.creators3d.com/online-viewer and the files displayed correctly. When I call "rospack find kinova_description", the package is found succesfully.

I'm not sure what else to look for, especially considering the simulation worked fine before I left last Friday. I've also tried rebooting the system.

Info: ROS Kinetic on Ubuntu 16.04

Gazebo 8.6.0

Invisible links

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