代码移植 about compliant-control-and-application HOT 3 OPEN

运行：

roslaunch co_robot_gazebo co_robot_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller

报错：

hhz@hhz:~/co_robot_new$ roslaunch co_robot_gazebo co_robot_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller
... logging to /home/hhz/.ros/log/6b2066f0-e281-11ee-83d4-f35be00e4ca5/roslaunch-hhz-228702.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.

RLException: while processing /home/hhz/co_robot_new/src/co_robot_gazebo/launch/inc/load_co_robot.launch.xml:

while processing /home/hhz/co_robot_new/src/co_robot_gazebo/launch/inc/load_co_robot.launch.xml:
Invalid tag: maximum recursion depth exceeded while calling a Python object.

Arg xml is
The traceback for the exception was written to the log file

from compliant-control-and-application.

你好，感谢你上传的力控代码，我在移植代码时会认真地标明出处。

问题： 我尝试将你写的基于ur5e的导纳控制仿真移植到，自己搭建的7DOFs机械臂上，以下是我的模型：

我在移植 https://github.com/MingshanHe/Compliant-Control-and-Application/tree/noetic/robots/universal_robot/fmauch_universal_robot/ur_description/config/ur5e ，这个目录下的yaml文件时，遇到了困难，请问

• default_kinematics.yaml
• physical_parameters.yaml
  这两个文件内容，是如何获取的？

感谢

这两个文件都是关于UR5e机械臂的机械参数，当时是用到了UR5e机械臂官方URDF的包，如果移植，可以通过正确的URDF代替。

from compliant-control-and-application.

感谢作者大大的回复，我去尝试编写一下

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