在编写小车urdf过程中,出现下面错误
Failed to find root link: Two root links found: [base_footprint] and [base_link]
<link name="base_link">
<inertial>
<origin xyz="-0.0297223458239662 0.00885393359209172 0.0908337009417238" rpy="0 0 0" />
<mass value="26.9449323487092" />
<inertia ixx="0.161309568708359" ixy="-3.60659406063394E-05" ixz="-0.000200143769478037" iyy="0.162151895045931" iyz="-5.52382803734224E-05" izz="0.294908497251133" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robot_model/meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robot_model/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="base_footprint">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0.033" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>
</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,写完link后再写joint,就是在 < l i n k > < / l i n k > <link> </link> <link></link>后再写joint
<link name="base_link">
<inertial>
<origin xyz="-0.0297223458239662 0.00885393359209172 0.0908337009417238" rpy="0 0 0" />
<mass value="26.9449323487092" />
<inertia ixx="0.161309568708359" ixy="-3.60659406063394E-05" ixz="-0.000200143769478037" iyy="0.162151895045931" iyz="-5.52382803734224E-05" izz="0.294908497251133" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robot_model/meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robot_model/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="base_footprint">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0.033" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>