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On a typical robot arm we have a kinematic chain going from the base up to tool frame.
The endeffector(s) and their frames are then connected to that tool frame.
When we try to select an endeffector frame that is not part of the kinematic chain but connected to it we get such an error:
[ros2_control_node-14] [ERROR] [1718797580.334696574] [kinematics_interface_kdl]: The link ur_top/my_endeffector/attach was not found in the robot chain. Available links are:
[ros2_control_node-14] base_link
[ros2_control_node-14] ur_top/base_link
[ros2_control_node-14] ur_top/base_link_inertia
[ros2_control_node-14] ur_top/shoulder_link
[ros2_control_node-14] ur_top/upper_arm_link
[ros2_control_node-14] ur_top/forearm_link
[ros2_control_node-14] ur_top/wrist_1_link
[ros2_control_node-14] ur_top/wrist_2_link
[ros2_control_node-14] ur_top/wrist_3_link
[ros2_control_node-14] ur_top/flange
[ros2_control_node-14] ur_top/tool0
To Reproduce
Select a frame behind the kinematic chain as control.frame.id
Expected behavior
Endeffector frames that are connected to the kinematic chain should be selectable as control.frame.id
Environment (please complete the following information):
Version: Iron
Additional context
When we take a look at the example from the documentation we see that this case has been initially thought of by the external parameter. This parameter is not used anymore:
control:
frame:
id: tool0 # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
external: false # control frame exists within URDF kinematic chain
``
The text was updated successfully, but these errors were encountered:
Ofcourse, this is pretty much how it works. Your and effector and its frames information is expected to be in the robot description so that the controller can get it from there. Any external frames are expected to fail as you have mentioned.
Describe the bug
On a typical robot arm we have a kinematic chain going from the base up to tool frame.
The endeffector(s) and their frames are then connected to that tool frame.
When we try to select an endeffector frame that is not part of the kinematic chain but connected to it we get such an error:
To Reproduce
Select a frame behind the kinematic chain as
control.frame.id
Expected behavior
Endeffector frames that are connected to the kinematic chain should be selectable as
control.frame.id
Environment (please complete the following information):
Additional context
When we take a look at the example from the documentation we see that this case has been initially thought of by the
external
parameter. This parameter is not used anymore:The text was updated successfully, but these errors were encountered: