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I use this tool to generate robcogen file but I get an error:
roslaunch urdf2robcogen cheetah2code.launch
... logging to /home/zpl/.ros/log/0d0dd772-d0a7-11ea-987e-3413e89875f1/roslaunch-work-4531.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://work:33891/
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.6 * /urdf2robcogen/description_name: robot_description * /urdf2robcogen/output_folder: /home/zpl/local/s... * /urdf2robcogen/robot_name: cheetah * /urdf2robcogen/verbose: TrueNODES / urdf2robcogen (urdf2robcogen/urdf2robcogen_node)auto-starting new masterprocess[master]: started with pid [4544]ROS_MASTER_URI=http://localhost:11311setting /run_id to 0d0dd772-d0a7-11ea-987e-3413e89875f1process[rosout-1]: started with pid [4555]started core service [/rosout]process[urdf2robcogen-2]: started with pid [4558][urdf2robcogen] Start generating files.urdf2robcogen_node: /home/zpl/local/src/cheetah_catkin_ws/src/urdf2robcogen/src/Utils.cpp:63: Eigen::Matrix3d expressInertiaFromFrameAInComFrame(Eigen::Matrix3d, double, PoseInWorld, PoseInWorld): Assertion `isValidInertiaMatrix(C_I_C)' failed.[urdf2robcogen-2] process has died [pid 4558, exit code -6, cmd /home/zpl/local/src/cheetah_catkin_ws/devel/lib/urdf2robcogen/urdf2robcogen_node __name:=urdf2robcogen __log:=/home/zpl/.ros/log/0d0dd772-d0a7-11ea-987e-3413e89875f1/urdf2robcogen-2.log].log file: /home/zpl/.ros/log/0d0dd772-d0a7-11ea-987e-3413e89875f1/urdf2robcogen-2*.log
why this error urdf2robcogen_node: /home/zpl/local/src/cheetah_catkin_ws/src/urdf2robcogen/src/Utils.cpp:63: Eigen::Matrix3d expressInertiaFromFrameAInComFrame(Eigen::Matrix3d, double, PoseInWorld, PoseInWorld): Assertion isValidInertiaMatrix(C_I_C)' failed.` occur?
The urdf file is correct when I spawn it to gazebo.
How can I solve this?
The text was updated successfully, but these errors were encountered:
Hi,
thanks for reporting the issue. The failing assertion checks that the inertia matrix makes sense physically, e.g., that there is a positive rotational inertia in all directions.
Quick workaround: Disable assertions by compiling in release mode. Note that wrong inertias can make your simulation unstable.
Proposed solution: Check that your URDF does not contain any bodies with invalid inertia tensors. Typically this happens when you specify zero inertia along at least one axis. You may post your URDF so I can take a look.
I use this tool to generate robcogen file but I get an error:
why this error
urdf2robcogen_node: /home/zpl/local/src/cheetah_catkin_ws/src/urdf2robcogen/src/Utils.cpp:63: Eigen::Matrix3d expressInertiaFromFrameAInComFrame(Eigen::Matrix3d, double, PoseInWorld, PoseInWorld): Assertion
isValidInertiaMatrix(C_I_C)' failed.` occur?The urdf file is correct when I spawn it to gazebo.
How can I solve this?
The text was updated successfully, but these errors were encountered: