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Failed to build tree: parent link not found

asked 2021-06-28 04:31:07 -0500

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Hei Everybody, i am new to gazebo and I am having difficulties with the auto-generated urdf files from moveit.

All files can be found in this repository: https://github.com/ApflaBua/ur5_gripper

I think I know why i get my error but i dont know how to fix it. So within the file 'ur5_robotiq_gripper.urdf.xacro' is a joint called 'robotic_coupler_joint'. This joint's parent link is tool0 from the file 'ur5.urdf.xacro'. As far as I understand it, the file is included with '<xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro"/>' Becasue within this file ' <xacro:include filename="$(find ur5_description)/urdf/ur5.urdf.xacro"/>' This is included.

I will add a screenshot of the Terminal error aswell.

I hope someone can help me,

Thanks already ! C:\fakepath\Screenshot from 2021-06-28 11-30-34.png

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answered 2021-07-06 19:44:46 -0500

Adam Gronewold gravatar image

updated 2021-07-06 19:49:31 -0500

It is hard to know for certain without getting a sense of how your directory is set up, but I am guessing that it is an issue of you not having the ur5 files in the proper location. Your directory needs to be set up EXACTLY as it is written in any include statement used in the repo - otherwise it will not work. Alternatively, you can adjust those include statements to mirror your directory structure.

If you really want to use this repository, I'd suggest you make a master URDF file and copy and paste the pieces in place of the include statements. That may save you some trouble as someone just beginning to work with Gazebo. Also, keep in mind that Gazebo does not parse through all tags inside a URDF and often times it skips tags it should be capable of figuring out, for whatever reason. URDF can work very well with Gazebo, but it prefers an SDF.

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Asked: 2021-06-28 04:31:07 -0500

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Last updated: Jul 06