URDF rules that can be load about champ_setup_assistant

[grassjelly]

The function acts as a filter by removing a potential manipulator in the urdf file. This works by checking the number of actuators in each chain and counting how many times that number occured. If that number has occurred 4 times(4 legs) most likely the end link belongs to a leg, otherwise it will omit.

[grassjelly]

Hi,

This setup assistant is mainly for quadrupedal robots, for this project to be exact - https://github.com/chvmp/champ.

Unless you meant, you’re loading a quadrupedal robot’s URDF with a robotic arm?

[Biruberuvinto]

Thank you for your prompt reply.

I know the purpose of the tool is champ.

I interested if a simple robot arm could be used instead of the URDF of a quadrupedal robot equipped with a robot arm.
Because I tried to set up a quadrupedal robot with other joints with this tool.

[Biruberuvinto]

@grassjelly
When I referred to the source file (urdf_parser.py), it said that it was adding to the new list when the number of end links was four.
Lines 227 to 234.

This means that a URDF that doesn't have 4 endlinks will not be added to the list and will fail?

[Biruberuvinto]

It was helpful. Thank you very much.

Incidentally, I tried to generate it with the URDF file of "https://github.com/ReactRobotics/DogBotV4/tree/master/ROS".
Then the following notice was displayed on the terminal.

[WARN] [1596091560.599070]: base_joint's xyz are not defined. Setting these values ​​to zero
[WARN] [1596091560.599573]: base_joint's rpy are not defined. Setting these values ​​to zero
[WARN] [1596091560.600328]: base_joint's xyz are not defined. Setting these values ​​to zero
[WARN] [1596091560.600689]: base_joint's rpy are not defined. Setting these values ​​to zero
[WARN] [1596091560.601352]: base_joint's xyz are not defined. Setting these values ​​to zero
[WARN] [1596091560.601682]: base_joint's rpy are not defined. Setting these values ​​to zero
[WARN] [1596091560.602307]: base_joint's xyz are not defined. Setting these values ​​to zero
[WARN] [1596091560.602631]: base_joint's rpy are not defined.Setting these values ​​to zero

When I try the generated file with the command: "$ roslaunch bringup.launch rviz:=true", it looks like the picture.
Do you know how to fix the error?

[grassjelly]

Can you please post this as a separate thread in the champ repository instead as it's a different issue. Thanks! Closing this for now.