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For reference (or at least it worked for me), here's the xacro code I used for 2 robots with grippers in urdf that are controllable by joint_state_publisher: (still a few extra reference frames, but first things first). Make sure rviz says "world" is your base reference frame.

 <?xml version="1.0"?>
<robot name="fanuc_lrmate200id" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="$(find fanuc_lrmate200id_support)/urdf/lrmate200id_macro.xacro"/>
   <xacro:include filename="$(find fanuc_lrmate200id_support)/urdf/robotiq_c2_model_macro.xacro"/>
   <xacro:include filename="$(find motoman_sia20d_support)/urdf/sia20d_macro.xacro"/>
    <xacro:fanuc_lrmate200id prefix="fanuc_"/>
   <xacro:robotiq_c2_model prefix="fanuc_"/>
    <xacro:motoman_sia20d prefix="motoman_"/>
   <xacro:robotiq_c2_model prefix="motoman_"/>

  <link name="world" />

  <!-- Dummy Link -->
  <link name="link0" />
  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link="link0" />
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <!-- First Robot -->
  <joint name="fanuc_joint_0" type="fixed">
    <parent link="link0" />
    <child link="fanuc_base_link" />
    <origin xyz="0 -0.5 0" rpy="0 0 0"/>
  </joint>

  <joint name="fanuc_joint_6-tool0" type="fixed">
    <!--      <origin xyz="0 0 0" rpy="${m_pi} ${-m_pi_2} 0" /> -->
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="fanuc_link_6" />
    <child link="fanuc_robotiq_85_adapter_link" />
    <axis xyz="0 0 0"/>
  </joint> 

  <!-- Second Robot -->
  <joint name="motoman_joint_0" type="fixed">
    <parent link="link0" />
    <child link="motoman_base_link" />
    <origin xyz="0 0.5 0" rpy="0 0 0"/>
  </joint>
   <joint name="motoman_link_t-tool0" type="fixed" >
     <!--  <origin xyz="0 0 0.0" rpy="0 0 -3.1416"/> -->
     <origin xyz="0 0 0.0" rpy="0  -1.57  0"/>
      <parent link="motoman_link_t" />
      <child link="motoman_robotiq_85_adapter_link" />
     </joint>

</robot>