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How could I make my UR5 in rviz mimic the real robot?

asked 2014-03-17 02:04:48 -0600

deulogio gravatar image

Hi all, My lab partner is controlling a couple of UR5 with our own nodes; so, i'd like to mimic them in rviz. I guess I have to use robot_state_publisher; but I think that I should create a new node with the kinematic chain ,since I only have the TCP, which launch the jointstates mesagges. But, Could I use the joint_states_publisher to simplify my work? Thanks all.

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answered 2014-03-17 02:17:53 -0600

gvdhoorn gravatar image

Although the universal_robot stack also allows you to control the UR5 from ROS, you should be able to use it to just report state as well. It is part of the ROS-Industrial program.

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Sorry gdvhoorn, but I am New in ROS and C++; Would I need a new program, implement by myself, for sending the jointstates messages from my UR5 or there is a specific node for this aim? If I had to do this program, how do I find the kinematic chain and which messages need robot_state_publisher? Have I to send this messages for joint_state_publisher before?

deulogio gravatar image deulogio  ( 2014-03-20 05:25:44 -0600 )edit

For just state reporting, it should be enough to install the universal_robot stack and use the already available programs and launch files. Anything else would require you to create something new (or extend something that already exists).

gvdhoorn gravatar image gvdhoorn  ( 2014-03-26 00:11:44 -0600 )edit

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Asked: 2014-03-17 02:04:48 -0600

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Last updated: Mar 17 '14