Failed to generate .kindsl model from the .urdf models provided

[mustang66ytz]

Hi, I just wondered are the .urdf models provided in the control_toolbox/ct_models/urdf/ directory can be converted to .kindsl models successfully by using the urdf2robcogen ros package? I have tried both the irb4600 model and quadrotor with load model, but neither works successfully.

The error code is like the following:

terminate called after throwing an instance of 'std::runtime_error'
  what():  [std::runtime_error] /home/robot-control/wbc_ws/src/kindr/include/kindr/quaternions/Quaternion.hpp:320: UnitQuaternion() Input quaternion has not unit length.
Comparing Scalars:
Scalar 1: norm() = 0
Scalar 2: static_cast<Scalar>(1.0) = 1
Error was 100% > 0.01%

Thanks for any suggestions

[markusgft]

Hi, I have not used urdf2robcogen in a really long time, it may well be that it is not supporting those urdfs (anymore). I would consider it unmaintained, in doubt you could try contacting the developers! Best

Am 29.07.2021 um 06:24 schrieb mustang @.***>:

 Hi, I just wondered are the .urdf models provided in the control_toolbox/ct_models/urdf/ directory can be converted to .kindsl models successfully by using the urdf2robcogen ros package? I have tried both the irb4600 model and quadrotor with load model, but neither works successfully.

The error code is like the following:

terminate called after throwing an instance of 'std::runtime_error' what(): [std::runtime_error] /home/robot-control/wbc_ws/src/kindr/include/kindr/quaternions/Quaternion.hpp:320: UnitQuaternion() Input quaternion has not unit length. Comparing Scalars: Scalar 1: norm() = 0 Scalar 2: static_cast<Scalar>(1.0) = 1 Error was 100% > 0.01%

Thanks for any suggestions

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[mustang66ytz]

Cool, thanks very much!