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1 | initial version |
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).