I would like to merge two models however, the TF's are not linking

asked 2022-07-15 08:46:34 -0500

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We would like to merge two models(One of a robot and one of a movable turret system) however, when trying to make the joint to link the two robot models, it returns that it does not know what the parent link is. Is it possible to link two models of different packages?

here is a sample of what I did:

<include> <uri>model://robot</uri> <pose>0 0 0 0 0 0</pose> </include> <joint name="${prefix}robot_connector_joint" type="fixed"> <parent link="robot::torso_lift_link"/> <child link="${prefix}turret_base_link"/> </joint> </xacro:macro>

And this gives us an error like so:

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error: [ERROR] [1657891939.497418506, 2438.594000000]: Failed to build tree: parent link [robot::torso_lift_link] of joint [projector_robot_connector_joint] not found. This is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint [projector_robot_connector_joint] from your urdf file, or add "<link name="robot::torso_lift_link"/>" to your urdf file.

Jacobb2237 gravatar imageJacobb2237 ( 2022-07-15 08:47:33 -0500 )edit