Tagged: ROS ROS# Unity Urdf
- YorickParticipantDecember 31, 2018 at 12:40 pmPost count: 1
I just started to explore the possibilities with Niryo One and ROS.
Since there is a nice URDF for this robot, I imported it successfully in Unity.
This is made possible by the people who made this project: https://github.com/siemens/ros-sharp
I’m now trying to figure out how to control the robot in Unity
I thought it would be nice to share this with other people, so maybe we can share our knowledge :-)
YorickEdouard RenardKeymasterJanuary 3, 2019 at 3:12 pmPost count: 239AnthonyParticipantJuly 1, 2019 at 9:43 pmPost count: 10AnthonyParticipantJuly 2, 2019 at 1:39 pmPost count: 10
I used those two link to convert xacro file into urdf file by writing command line in the niryo terminal.
A urdf file is created in the root.
Following the tutorial provided by Siemens, I imported Niryo in Unity.
I’m still facing an issue about importing link. Indeed, once the robot is imported, I have got a error about the creation of the link according to the console :
“No Joint Component will be created in GameObject “tool_link” as it has no Rigidbody Component.
Please define an Inertial for Link “tool_link” in the URDF file to create a Rigidbody Component.”
In order to face this issue I have to master Urdf file…
@Edouart do you have an idea about defining inertial for links in the urdf file of Niryo?
Thks for helping!Edouard RenardKeymasterJuly 3, 2019 at 1:57 pmPost count: 239
I don’t know about using URDF in Unity, bu by googling the error log I found this issue on GitHub, which seems to be related to your issue.
It seems that this log is not an error but simply a warning that you can ignore. Please check out the issue on Github, this might help you solve other problems as well.
The log says the “tool_link” has no rigid body, because if you look at the xacro file, we didn’t define any visual property for this link. This link is only here so we can have a TCP (Tool Center Point) where the tool is placed.
If you want to totally remove this warning you can simply add a small visual tag inside the tool_link ( for example a thin box, tuto here)
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