在学习《Learning_ROS_for_Robotics_Programming》一书中,遇到的问题。环境建立在Ubuntu 16.04+ROS kinetic。
利用gazebo官方网站上的教程,进行简单的一个关节机械臂minimal_robot_description与移动机器人mobot进行组合,并在tf转换时,根据之前的代码,出现一些问题。
解决如下:
在example_tf_listener的操作中,
一、运行一下命令检测code时,
1.roslaunch gazebo_ros empty_world.launch
2.roslaunch mobot_urdf mobot_w_arm_and_jnt_pub.launch
会在第二个terminator出现一下warning:
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
原launch文件如下所示:
<launch>
<!-- Convert xacro model file and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find mobot_urdf)/urdf/mobot_w_arm_and_jnt_pub.xacro'" />
<!-- Spawn the robot from parameter server into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model mobot" />
<!-- load the controller parameter yaml file and start the ROS controllers for the ar