redefining global symbol: pi when processing file
<robot <a="" href="http://xmlns:xacro="http://www.ros.org/wiki/xacro%22">xmlns:xacro="http://www.ros.org/wiki/...></robot>
<!-- transmission -->
<xacro:include filename="$(find tm_grasp_description)/urdf/tm.transmission.xacro" />
<!-- Mass parameters -->
<xacro:property name="pi" value="3.14159265" />
<xacro:property name="base_mass" value="1.0" />
<xacro:property name="shoulder_mass" value="4.5" />
<xacro:property name="arm_1_mass" value="10.5" />
<xacro:property name="arm_2_mass" value="2.1" />
<xacro:property name="wrist_1_mass" value="1.45" />
<xacro:property name="wrist_2_mass" value="1.45" />
<xacro:property name="wrist_3_mass" value="0.4" />
<!-- Kinematic model -->
<!-- Properties from tmcontrol.conf -->
<!--
DH for TM700:
a = [0.00000, 0.329, 0.3115, 0.00000, 0.00000, 0.0000]
d = [0.1451, 0.00000, 0.00000, -0.1222, 0.106, 0.1144]
alpha = [ -1.570796327, 0, 0, 1.570796327, 1.570796327, 0 ]
q_home_offset = [0, -1.570796327, 0, 1.570796327, 0, 0]
joint_direction = [-1, -1, 1, -1, 1, 1]
mass = [4.5, 10.5, 2.1, 1.45, 1.45, 0.4]
center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ](tm700)
-->
<xacro:property name="tm_d1" value="0.1451" />
<xacro:property name="tm_a2" value="0.3290" />
<xacro:property name="tm_a3" value="0.3115" />
<xacro:property name="tm_d4" value="0.1222" />
<xacro:property name="tm_d5" value="0.1060" />
<xacro:property name="tm_d6" value="0.1144" />
<!-- offsets for shoulder/elbow joints -->
<xacro:property name="shoulder_offset" value="-0.146" /> <!-- measured from model -->
<xacro:property name="elbow_offset" value="0.1298" /> <!-- measured from model -->
<xacro:property name="wrist_offset" value="${-tm_d4 - elbow_offset - shoulder_offset}" />
<!-- link lengths used in model -->
<xacro:property name="shoulder_height" value="${tm_d1}" />
<xacro:property name="arm_1_length" value="${tm_a2}" />
<xacro:property name="arm_2_length" value="${tm_a3}" />
<xacro:property name="wrist_1_length" value="tm_d5}" />
<xacro:property name="wrist_2_length" value="${tm_d5}" />
<xacro:property name="wrist_3_length" value="0.0565" />
<xacro:property name="ee_length" value="${tm_d6 - wrist_3_length}" />
<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<inertial>
<mass value="${mass}" />
<xacro:insert_block name="origin" />
<inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
izz="${0.5 * mass * radius * radius}" />
</inertial>
</xacro:macro>
<xacro:macro name="tm700_robot" params="prefix joint_limited">
<!-- transmission prefix -->
<xacro:tm_arm_transmission prefix="${prefix}" />
<link name="${prefix}base_link" >
<visual>
<geometry>
<mesh filename="package://tm_grasp_description/meshes/tm700/visual/Base.STL" />
</geometry>
<material name="Grey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://tm_grasp_description/meshes/tm700/collision/base.STL" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length ...
Can you please! edit this question and change file names. For example which xacro code has which file name.
Thanks
i have specified the file name .the code at the top file name is tm700.urdf.xacro and the code below file name is hrwros.xacro
The message you quote is not an error. It's a warning afaik.
You seem to have noticed that yourself as well from what I can tell from #q382448.
If your question is really about something else, please update the title of your question so it better reflects what it's about.