URDF(学习笔记)

最新推荐文章于 2023-09-11 10:00:03 发布

我想lu内只狗

最新推荐文章于 2023-09-11 10:00:03 发布

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源代码

<link name = "base_footprint">
                 <visual>
                          <geometry>
                                 <box size = "0.001 0.001 0.001"/>                                
                          </geometry> 
                          <origin xyz = "0 0 0" rpy = "0 0 0" />
                          <material name = "car_color" >
                         <color rgba = "0 0 1 0.5"/>
                         </material>
                 </visual>
        <joint name  = "link2footprint" type = "fixed">
                 <parent link = "base_footprint" />
                 <child link = "base_link" />
                 <origin xyz = "0 0 0.05" rpy = "0 0 0" />
        </joint>

         </link>
         <link name = "base_link">
                 <visual>
                          <geometry>
                                 <box size = "0.3 0.2 0.1"/>                                
                          </geometry> 
                          <origin xyz = "0 0 0" rpy = "0 0 0" />
                          <material name = "car_color" >
                         <color rgba = "0.6 0.2 0.3 0.5"/>
                         </material>
                 </visual>

报错：

Failed to find root link: Two root links found: [base_footprint] and [base_link]

原因：

1、注意每定义个link都要为它添加一个关节

2、注意link和joint的顺需，joint需要在link后