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Since you mention you are trying to reuse the files made available at WILDER-SYSTEMS-LLC/fanuc_experimental/crx10ial_support, but using your own meshes: there is a good possibility you've exported the meshes with a shared origin at 0,0,0, instead of each mesh having its own origin at its own, local, 0,0,0.

With the robot in its zero-pose, that would not be a problem, but as soon as you start rotating joints, there will be differences in where meshes are rotated too between the two approaches (ie: shared origin vs each mesh a local origin).

This is especially common when trying to reuse a kinematic structure (ie: in an existing .xacro or .urdf) with meshes converted/created separately.

As the structure of the robot is already available in ros-industrial/fanuc_experimental, it would probably be easiest to fix your meshes. Use a mesh editing program (like Blender, Meshlab or Meshmixer) to correct the origins of all the meshes. In most cases, the origin should coincide with the origin of the joint (ie: the point of rotation for revolute joints).

You could open one of the meshes in ros-industrial/fanuc_experimental/fanuc_crx10ia_support and compare its origin with one of your own meshes.