Import UR5 urdf to Moveit!

I am trying to import UR5 arm using the setupAssistant in moveit! When I load the ur5.urdf.xacro file, it says

URDF/COLLADA file is not a valid robot model.

The urdf file I used is from here. Does anyone know how to fix it? I use a 14.04 Ubuntu and ROS Indigo.

Thank you!

Asked by guodi on 2016-04-08 23:57:19 UTC

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Answers

When I load the ur5.urdf.xacro file [..]

It may be a bit confusing with all those files in the urdf directory, but ur5.urdf.xacro is not a top-level xacro (it doesn't instantiate a macro that provides a root link), so you can't load that.

For the UR5, load either the ur5_robot.urdf.xacro or the ur5_joint_limited_robot.urdf.xacro file. The former sets the joint limits to their actual values (+-2pi for all joints), while the latter restricts that to half of that (+-pi). MoveIt (and/or some of its planners) don't work too well with full 2pi joint limits, hence the joint limited variant of that file.

Asked by gvdhoorn on 2016-04-09 03:23:14 UTC

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Thanks for your reply! If so, is it possible that I could add a Barrett hand urdf file to the ur5 urdf file. Actually, I would like to connect the arm to a robotic hand.

Asked by guodi on 2016-04-09 03:57:27 UTC

Have you got URDF file for UR5 arm connected to Barret hand by any chance?

Asked by raf4343 on 2017-07-26 09:06:09 UTC