urdf simulation in rviz for a arm robot, [closed]
I need to publish a stop cmd to make a robot arm to zero positon, so i let it move 10 steps to zero posion. I use double datatype to calculate, i find the urdf donot response to my topic message.
I find my message have a big precision, for example
position: [0.0, 3.259629011154175e-09, -2.9103830456733704e-10, 3.725290298461914e-09, 1.30385160446167e-08, 0.0, 0.0, -1.1175870895385742e-08, 1.1175870895385742e-08, 0.0, 5.587935447692871e-09, 1.1175870895385742e-08, -6.51925802230835e-09, 1.30385160446167e-08, 1.862645149230957e-09, 9.313225746154785e-09, 0.0, -3.259629011154175e-09, 2.2351741790771484e-08, 0.0, 5.587935447692871e-09, 6.51925802230835e-09, 6.51925802230835e-09, 1.1175870895385742e-08, 1.1175870895385742e-08, 1.1175870895385742e-08, 3.725290298461914e-09, 3.725290298461914e-09, 3.725290298461914e-09, -3.725290298461914e-09, -3.725290298461914e-09, -3.725290298461914e-09, 1.4901161193847656e-08, 1.4901161193847656e-08, 1.4901161193847656e-08, -1.6298145055770874e-09, -1.6298145055770874e-09, -4.190951585769653e-09, -4.190951585769653e-09, -4.190951585769653e-09, 3.4924596548080444e-10, 3.4924596548080444e-10, 3.4924596548080444e-10, -1.6298145055770874e-09, -1.6298145055770874e-09, -1.6298145055770874e-09, -1.6298145055770874e-09, -1.6298145055770874e-09, -1.6298145055770874e-09]
velocity: []
effort: []
if i send push back 0 to JointState position fileds, urdf will move to relative postion.
is there some other reason to these fault ?
Out of curiosity: what sort of robot is this? That's almost 50 dof there in that message.
one humanoid robot;