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Ok, once again the complete things i have done:

in the launch file:

<!-- don't forget the [$(find xacro)/xacro.py] or Permission denied error will come up -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find [folder_name])/urdf/jaco_mp470.xacro'"/>

<!-- optionally if needed -->
<node name="jiont_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="zeros/j2s7s300_joint2" value="3.141"/>
    <param name ............ />
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

in the xacro that joints together the urdf's:

<robot name="base_arm" xmlns::xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="$(find mp470_description)/urdf/mp470.xacro"/>
    <xacro:include filename="$(find kinova_description)/urdf/j2s7s300.xacro"/>

    <!-- very basic xacro written by myself. no macros and stuff, just links and joints -->
    <xacro:mp470 prefix="mp470" />

    <!-- taken from another xacro file. this model is created calling a macro (?)-->
    <xacro:j2s7s300 base_parent="mount_link" /> 

    <!-- not needed for me since the desired link is already named correctly -->
    <!-- but should work like this -->
    <joint name="jaco_to_base" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parrent link="mount"/>
        <chiled link="root"/>
    </joint>
</robot>

Very very thanks to gvdhoorn, who took the time to respond to all my comments. The above is his solution just typed down my me for any beginner as a complete solution (in hope that i have no typos again).