Hey everyone,
(I'm a beginner to ROS, Gazebo and UUV Simulator) I am doing the tutorial of UUV Simulator and in the section "Configuring the thruster manager for a new vehicle" I am getting the following error when I try to include my vehicle into the world:
baqueiro@baqueiro-Latitude-E6430:~/catkin_ws$ roslaunch baqtronic_description upload.launch
... logging to /home/baqueiro/.ros/log/136ecaac-5522-11e8-9ca6-f01faf1d30a4/roslaunch-baqueiro-Latitude-E6430-12866.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
XML parsing error: not well-formed (invalid token): line 4, column 8
when processing file: /home/baqueiro/catkin_ws/src/baqtronic_description/urdf/snippets.xacro
included from: /home/baqueiro/catkin_ws/src/baqtronic_description/urdf/base.xacro
included from: /home/baqueiro/catkin_ws/src/baqtronic_description/robots/default.xacro
Check that:
- Your XML is well-formed
- You have the xacro xmlns declaration: xmlns:xacro="http://www.ros.org/wiki/xacro"
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py '/home/baqueiro/catkin_ws/src/baqtronic_description/robots/default.xacro' debug:=0 namespace:=baqtronic] returned with code [2].
Param xml is
The traceback for the exception was written to the log file
I'm using ROS Kinetic and Gazebo 9. Can anyone help me? Thanks in advance :)
Edit: Below my snippets.xacro:
${robot_namespace}/thruster_${thruster_id} ${robot_namespace}/thruster_${thruster_id}_joint ${thruster_id} 1 0 0 0 0 1 1 ZeroOrder FirstOrder 0.0 Yoerger 0.0 0.0 Bessa 0.0 0.0 0.0 0.0 0.0 Basic 0.0 Bessa 0.0 0.0 0.0 0.0 LinearInterp 0 1 2 3 0 1 2 3 false FirstOrder 0.0 TwoLines ${replace here the value for the area of the fin's cross section}0.0 0.0 0.0 0.0 0.0 0.0 0.0 Quadratic 0.0 0.0 /hydrodynamics/current_velocity ${namespace}/fin${fin_id} ${namespace}/fin${fin_id}_joint ${namespace}/fins/${fin_id}/output ${namespace}/fins/${fin_id}/input ${namespace}/fins/${fin_id}/wrench_topic
↧