not enough blocks
xacroexception('not enough blocks',)
when instantiating macro: kinect2_xacro (/home/cbc/catkin_ws/src/iai_robots/iai_kinect2_description/urdf/kinect2.urdf.xacro)
infile: /home/cbc/catkin_ws/src/iai_robots/iai_kinect2_description/urdf/kinect2_camera.urdf.xacro
invalid tag: cannot load
command
parameter [robot_descriptio]: command [/opt/ros/kinetic/lib/xacro/xacro
'--inorder'
'/home/cbc/catkin_ws/src/iai_robots/iai_kinect2_description/urdf/kinect2_camera.urdf.xacro'] returned
with
code [2].
param xml is command="$(find xacro)/xacro '--inorder' '$(find iai_kinect2_description)/urdf/kinect2_camera.urdf.xacro'"
name="robot_descriptio"/>
the traceback for
the exception was written to
thelog
file
將
name="kinect2_xacro"
params="prefix parent *origin">
name="$_kinect2_in_joint"
type="fixed">
name="origin"/>
link="$"/>
link="$_kinect2_rgb_optical_frame"/>
joint>
name="kinect2_xacro"
params="prefix parent">
name="$_kinect2_in_joint"
type="fixed">
link="$"/>
link="$_kinect2_rgb_optical_frame"/>
xyz="0 0 0"
rpy="0 0 0"/>
joint>
no transform from [camera_link] to [world]
no transform from [******_kinect2_rgb_optical_frame] to [world]
"robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
[error] [1515745229.530419356]: could not find parameter robot_description on parameter servercommand="$(find xacro)/xacro '--inorder' '$(find iai_kinect2_description)/urdf/kinect2_camera.urdf.xacro'" />//param
name一定要命名為robot_description
name="kinect2_rgb_joint"
type="fixed">
xyz="-0.0520171521241 -0.000240451181123 0.000294544694029"
rpy="0.00178209349915 -0.000222819786098 -0.00114226514527"/>
link="$_kinect2_rgb_optical_frame"/>
link="$_kinect2_ir_optical_frame"/>
joint>
2add a convert script from calib_pose.yaml to urdf format
3frame transforms
4kinect2_link location on device
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