Question

Hi, I have installed Clearpath husky on Ubuntu 20.04 Focal Fossa with ROS Noetic. My goal is to add a camera on clearpath husky but I get a few errors below.

unknown macro name: xacro:default_inertial
when processing file: /opt/ros/noetic/share/husky_description/urdf/husky.urdf.xacro
RLException: while processing /opt/ros/noetic/share/husky_gazebo/launch/spawn_husky.launch:
while processing /opt/ros/noetic/share/husky_control/launch/control.launch:
while processing /opt/ros/noetic/share/husky_description/launch/description.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/opt/ros/noetic/share/husky_description/urdf/husky.urdf.xacro', 'robot_namespace:=/']] returned with code [2]. 

Param xml is <param name="robot_description" command="$(find xacro)/xacro '$(find husky_description)/urdf/husky.urdf.xacro'     robot_namespace:=$(arg robot_namespace)"/>
The traceback for the exception was written to the log file

Here are my xacro file, GoogleDrive

Thx for helping.

Asked by bseyha on 2022-03-30 05:48:54 UTC

Answer 1

did you run the following commands?

source /opt/ros/noetic/setup.bash
source <catkin_ws>/devel/setup.bash

Make sure a folder called "husky description" is in /opt/ros/noetic/share (if you are using noetic)

if all of this is correct - the following line in the launch file worked for me with noetic:

<param name="robot_description" command="$(find xacro)/xacro '$(find husky_description)/urdf/husky.urdf.xacro'
  robot_namespace:=$(arg namespace)">

Asked by joshuacv on 2022-04-04 00:06:54 UTC

Clearpath Husky - Adding Camera Plugin

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