facing problems with launch file
I am a beginner, I am trying to launch a URDF file in rviz with the following code :
launch file code :
<launch>
<arg name="model" />
<param name="robot_description" textfile="$(find robot_description)/urdf/final_arm.urdf" />
<param name="use_gui" value="true"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_description)/urdf.rviz" required="true" />
</launch>
urdf file code (final_arm.urdf) :
<?xml version="1.0"?>
<robot name="ARM">
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot_description/meshes/base_link.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="base_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin xyz="0 0 0"/>
<axis xyz="0 0 1" />
<limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="shoulder_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot_description/meshes/shoulder_link.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0"izz="1.0"/>
</inertial>
</link>
<joint name="shoulder_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="elbo_link"/>
<origin xyz="-0.385379 0.00451305 0.398126"/>
<axis xyz="0 1 0" />
<limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="elbo_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot_description/meshes/elbo_link.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0"izz="1.0"/>
</inertial>
</link>
<joint name="elbo_joint" type="revolute">
<parent link="elbo_link"/>
<child link="wrist_link"/>
<origin xyz="-0.692963 0.022576 0.569845"/>
<axis xyz="0 1 0" />
<limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="wrist_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot_description/meshes/wrist_link.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0"izz="1.0"/>
</inertial>
</link>
<joint name="wrist_joint" type="revolute">
<parent link="wrist_link"/>
<child link="wrist2_link"/>
<origin xyz="-0.580553 -0.720985 0.109695"/>
<axis xyz="0 1 0" />
<limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
<dynamics damping="50" friction="1"/>
</joint>
<link name="wrist2_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot_description/meshes/wrist2_link.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0"izz="1.0"/>
</inertial>
</link>
<joint name="wrist2_joint" type="revolute">
<parent link="wrist2_link"/>
<child link="wrist3_link"/>
<origin xyz="0 ...
What is the output of
rospack find robot_description
?output : /home/profx/catkin_ws/src/robot_description_pkg
the real problem is Rviz is not able to find tf for any of the links.