I can't get kindsl from example

[csufangyu]

hi Thanks your good job,but when I try to test,I get the error,could you help me?

roslaunch urdf2robcogen urdf2robcogen.launch robot_name:=test_robot description_name:=/home/robot203/boshirobot/urdf_gen/src/urdf2robcogen/examples/floating_base.urdf
... logging to /home/robot203/.ros/log/b1ba9dfe-b635-11eb-a2f9-b42e9984ee6d/roslaunch-robot203-3985.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.

started roslaunch server http://robot203:41143/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /urdf2robcogen/description_name: /home/robot203/bo...
 * /urdf2robcogen/output_folder: /home/robot203/bo...
 * /urdf2robcogen/robot_name: test_robot
 * /urdf2robcogen/verbose: False

NODES
  /
    urdf2robcogen (urdf2robcogen/urdf2robcogen_node)

auto-starting new master
process[master]: started with pid [4004]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b1ba9dfe-b635-11eb-a2f9-b42e9984ee6d
process[rosout-1]: started with pid [4015]
started core service [/rosout]
process[urdf2robcogen-2]: started with pid [4021]
terminate called after throwing an instance of 'ros::InvalidNameException'
  what():  Character [.] at element [75] is not valid in Graph Resource Name [/home/robot203/boshirobot/urdf_gen/src/urdf2robcogen/examples/floating_base.urdf].  Valid characters are a-z, A-Z, 0-9, / and _.
[urdf2robcogen-2] process has died [pid 4021, exit code -6, cmd /home/robot203/boshirobot/urdf_gen/devel/lib/urdf2robcogen/urdf2robcogen_node __name:=urdf2robcogen __log:=/home/robot203/.ros/log/b1ba9dfe-b635-11eb-a2f9-b42e9984ee6d/urdf2robcogen-2.log].
log file: /home/robot203/.ros/log/b1ba9dfe-b635-11eb-a2f9-b42e9984ee6d/urdf2robcogen-2*.log

[csufangyu]

and if I use
./urdf2robcogen_script arm /home/robot203/boshirobot/urdfgen/src/urdf2robcogen/examples/floating_base.urdf
I get the error:

urdfgen/devel/lib/urdf2robcogen$ ./urdf2robcogen_script arm /home/robot203/boshirobot/urdfgen/src/urdf2robcogen/examples/floating_base.urdf
[urdf2robcogen] Start generating files.
urdf2robcogen_script: /home/robot203/boshirobot/urdfgen/src/urdf2robcogen/src/Urdf2RobCoGen.cpp:294: void rotateJointAxesToZaxis(UrdfStructure&, bool): Assertion `axisInWorld.isApprox(R_W_Jnew * desiredAxisInJointFrame)' failed.

[jcarius]

Hi @csufangyu ,
it's hard to tell what is going wrong from the error messages. My first point of investigation would be the URDF file itself, possibly double check if any rotation axes are wrongly specified.
As a workaround, you can also try to disable the assertions (by building in Release mode) and see if you get meaningful output.

Hope it helps!

[csufangyu]

Thanks