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