Problem with URDF Importer

Typically: "How do I... ", "How can I... " questions
Post Reply
Erfan
Posts: 16
Joined: 23 Mar 2021, 02:26

Problem with URDF Importer

Post by Erfan »

Hello,

I am using the URDF importer plugin to import a model of a Staubli manipulator, unfortunately it appears that the plugin incorrectly instantiates the model. This problem also exist for other urdf files such as Panda robot ......

I think there is problem with URDF importer. Could somebody kindly help me to solve this issue?

Thank you and regards,
Erfan

fferri
Posts: 815
Joined: 09 Sep 2013, 19:28

Re: Problem with URDF Importer

Post by fferri »

Hi,

please post some example, including the original URDF file, and why the imported model is not correct, and how it should be.

Thanks

Erfan
Posts: 16
Joined: 23 Mar 2021, 02:26

Re: Problem with URDF Importer

Post by Erfan »

Hi,

The URDF file is on:
https://www.dropbox.com/s/14lu79s2shi00 ... .urdf?dl=0

The file works on Gazebo and moveit:
https://www.dropbox.com/s/w4w7gge3zy3gl ... o.jpg?dl=0

https://www.dropbox.com/s/6lx0f2stkc40j ... t.jpg?dl=0

But, unfortunately it doesn't work as expected in Coppeliasim:
https://www.dropbox.com/s/1isqvappkldlc ... m.jpg?dl=0

Would you please help me to solve this issue?

Thank you in advance,
Erfan

coppelia
Site Admin
Posts: 8888
Joined: 14 Dec 2012, 00:25

Re: Problem with URDF Importer

Post by coppelia »

Hello,

your URDF file references external files, that you haven't posted: so many files are missing. You can see this from the error messages, e.g.:

simExtURDF: error: neither mesh file 'E:/staubli_rx160_support/meshes/rx160/visual/base_link.stl' nor 'E:/staubli_rx160_support/meshes/rx160/visual/base_link.stl' do exist.

Cheers

Erfan
Posts: 16
Joined: 23 Mar 2021, 02:26

Re: Problem with URDF Importer

Post by Erfan »

Hello,

Thank you for your message !

The URDF files and supporting files are on:

https://www.dropbox.com/sh/9kinlqg7lnst ... tJt6a?dl=0

https://www.dropbox.com/sh/uuzuber5tb19 ... vl95a?dl=0

Please consider that these files are downloaded from:

https://github.com/ros-industrial/staubli

Thank you in advance,
Erfan

coppelia
Site Admin
Posts: 8888
Joined: 14 Dec 2012, 00:25

Re: Problem with URDF Importer

Post by coppelia »

Can you please check that:
  • ros is loaded before running CoppeliaSim (i.e. via source /opt/ros/<distroName>/setup.bash)
  • that your ROS workspace is correctly set-up
If above is not the case, the package location usually can't be found. Then you can always revert to manually replacing the package:// string in your URDF file with the absolute path location.

Cheers

Erfan
Posts: 16
Joined: 23 Mar 2021, 02:26

Re: Problem with URDF Importer

Post by Erfan »

Thank you for your help !

The second method works.

regards,
Erfan

Post Reply