Hi!
I am trying to generate a UR5e into RViz on my local computer. I have added the URDF and meshes files to my repository from this GitHub repository:
I have set up my launch file as I was taught in Section 2.1 of the Gazebo Sim course, and I get this error:
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Unable to parse the value of parameter robot_description as yaml. If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)
Any ideas what this means? When I simply replicate the robot from Section 2.1 of the Gazebo Sim course on my local computer it works just fine, but it seems to struggle with the UR5e URDF from the github repository. I have one idea as to the issue. The top of the “URDF” file for the UR5e says this:
Base UR robot series xacro macro.
NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
(but note: that .xacro must still be processed by the xacro command).
For use in '.launch' files: use one of the 'load_urX.launch' convenience
launch files.
This file models the base kinematic chain of a UR robot, which then gets
parameterised by various configuration files to convert it into a UR3(e),
UR5(e), UR10(e) or UR16e.
NOTE: the default kinematic parameters (ie: link lengths, frame locations,
offets, etc) do not correspond to any particular robot. They are defaults
only. There WILL be non-zero offsets between the Forward Kinematics results
in TF (ie: robot_state_publisher) and the values reported by the Teach
Pendant.
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
parameter MUST point to a .yaml file containing the appropriate values for
the targetted robot.
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
described in the readme of that repository to extract the kinematic
calibration from the controller and generate the required .yaml file.
So, it says it is not a URDF file that can be directly loaded. But I am lost on the rest of the text. Does anyone know what the text is saying, and why I may be getting the error that I am? Thank you!
Russell