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You can wrap the xacro in your own model file, anchoring the gripper to a dummy link:

<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       name="sdh" >

  <!-- The following included files set up definitions of parts of the robot body -->
  <!-- cob sdh-->
  <include filename="$(find cob_description)/ros/urdf/sdh_v0/sdh.urdf.xacro" />

  <!-- foot for arm-->
  <link name="dummy_link">
          <inertial>
             <origin xyz="0 0 -10" rpy="0 0 0"/>
             <mass value="1000.0"/>
             <inertia ixx="100.0"  ixy="0"  ixz="0" iyy="100.0" iyz="0" izz="100.0" />
          </inertial>

          <visual>
             <origin xyz="0 0 0.25" rpy="0 0 0" />
             <geometry>
                    <box size="0.6 0.4 0.4"/>
                    <!--cylinder radius="0.1" length="0.5"/-->
             </geometry>
             <material name="Blue" />
          </visual>

          <collision>
             <origin xyz="0 0 0.25" rpy="0 0 0" />
             <geometry>
                    <box size="0.6 0.4 0.4"/>
                    <!--cylinder radius="0.1" length="0.5"/-->
             </geometry>
          </collision>
  </link>

  <!-- sdh -->
  <xacro:cob_sdh_v0 name="sdh" parent="dummy_link">
    <origin xyz="0 0 0" rpy="0 3.1415926 0" />
  </xacro:cob_sdh_v0>

</robot>

save it as test.urdf.xacro in your own ros package (my_own_foo_ros_pkg). Then construct a launch script to push the xacro file onto the parameter server:

<launch>
  <!-- send pr2 urdf to param server -->
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find my_own_foo_ros_pkg)/test.urdf.xacro'" />
</launch>