ROS Baxter update URDF in runtime 更新URDF模型

 

1. Check the computer and robot connection
ping + ID.local  to check the connection condition
(search google **rethink robot ssh**)
http://sdk.rethinkrobotics.com/wiki/SSH#Start.2FStop_the_robot_software

2. Check the time stamp
**rostopic echo -n1 /robot/urdf** Check the msg of urdf topic, especially the time (secs, nsecs). Then run the update_urdf.py, use **ipdb** to check the **time** in **msg**. The latter one is supposed to larger (behind) than the first one. 

 

time:
This field is used as the unique identifier to signal to the MRSP that a "new" change has occurred. If the time stamp here is less than the timestamp of the last change, the MRSP will ignore this request entirely. If you are populating this field within your code, you can use ROS Time.

http://sdk.rethinkrobotics.com/wiki/Gripper_Customization