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This is typically done with another xacro file. So you write one xacro file that includes the xacro file for the arm and the gripper, and then connects them with a join of some kind (probably a fixed joint). Here's an example for the Sawyer robot: https://github.com/RethinkRobotics/sawyer_robot/blob/master/sawyer_description/urdf/sawyer.urdf.xacro Note that this xacro file includes xacro files for the robot, the Gazebo parameters, and the grippers.
| | 2 | No.2 Revision |
This is typically done with another xacro file. So you write one xacro file that includes the xacro file for the arm and the gripper, and then connects them with a join of some kind (probably a fixed joint). Here's an example for the Sawyer robot: https://github.com/RethinkRobotics/sawyer_robot/blob/master/sawyer_description/urdf/sawyer.urdf.xacro https://github.com/RethinkRobotics/sawyer_robot/blob/593eedabbe35d33e9974b89370f76b212192d756/sawyer_description/urdf/sawyer.urdf.xacro
Note that this xacro file includes xacro files for the robot, the Gazebo parameters, and the grippers.
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