There is bug calculating robot link positions in robot

[sprhawk]

I'm using this model or this one

Left one is result of import urdf or xacro, right one is create assembly from urdf or xacro

And I try to use Set Placement to move some additional models via assembly LCS, but it seems the calculation of Placement is based on parent's Origin, not considered on hierarchy of Links. ( links of transformation of Placements )

[galou]

Do you have a ROS2 port of the package so that I don't need to port it myself?

[sprhawk]

Do you have a ROS2 port of the package so that I don't need to port it myself?

edi_arm_description.zip

Take a try.

[galou]

The link to the file is broken.

[sprhawk]

The link to the file is broken.

updated again

[galou]

I can open robot.xacro by importing it as a Robot but the files go2_full.urdf and go2.urdf cannot be opened in CROSS because they cannot be parsed by the underlying library urdf_parser_py. The issue is the presence of <?xml version="1.0" encoding="utf-8"?>. Remove it to make urdf_parser_py happy.

I didn't find the file go2_description.urdf in your archive.

[sprhawk]

I can open robot.xacro by importing it as a Robot but the files go2_full.urdf and go2.urdf cannot be opened in CROSS because they cannot be parsed by the underlying library urdf_parser_py. The issue is the presence of <?xml version="1.0" encoding="utf-8"?>. Remove it to make urdf_parser_py happy.

I didn't find the file go2_description.urdf in your archive.

Dose it show in correct position ? like the image I posted in right ?

[galou]

Yes.