Possible bug in URDF

[rafaelrojasmiliani]

Hello,
I'm not an expert in URDF. I'm trying to deploy Franka on RVIZ with ROS melodic.
I'm getting the Franka links spread around using this command

<xacro:panda_arm xyz="0 0 0.5"/>

but when I run

<xacro:panda_arm/>

It is deployed well.
I found that the xyz argument is used inside the xacro files in the link/visual/origin and link/collision/origin task as it is done here.
I do not know if this is correct, because the xyz argument should move the robot w.r.t. its parent joint and not each one of their links w.r.t. their parent joint.
I removed that and it works.

On the other hand if the connected_to arguments is used, a link with that name is declared here. I would imagine that this link is declared outside the arm URDF definition, and this is a re-declaration.

If I'm ok, I can do the pull request.

[mkrizmancic]

Hi Rafael,

thanks for the comment. As I explained in README, I'm not really working on this anymore and I won't even be able to check it.

However, I understand the issue and it seems that you are correct, so if you would like to open a pull request, I will be happy to merge it.