A 6 DOF robot arm URDF file

asked 2014-07-18 03:20:07 -0500

acp
546 ●68 ●76 ●90

Dear all.

I just want to play a bit with Move it in Hydro. I have been seeking for URDF files that can be load it into moveit_setup_assistant However, I have found some files with the extension of .urdf.xacro and I can not simply load it with moveit_setup_assistant. Further on, I have tried to convert .urdf.xacro to .urdf with the following command: rosrun xacro xacro.py file.urdf.xacro -o file.urdf But without success, the file.urdf is empty.

I know I can start creating my own .urdf file, but at this moment I just want to play with move it.

I would like to ask if some wants to share a  6DOF urdf robot arm manipulator with end effector file

In advance thank you very much.

answered 2014-07-18 07:24:39 -0500

McMurdo

1247 ●31 ●42 ●54

Hi!

rosrun xacro xacro.py should work fine.

Please post the output of the command. Try the command by specifying the absolute path of the urdf.xacro file.

Even rosrun xacro xacro.py file.urdf.xacro > file.urdf should work.

If you want a urdf, you can find it under jaco_description/urdf/gazebo

https://github.com/ksatyaki/JacoROS

Have a great day! Chittaranjan

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Hi, thank you very much for your answer, I will try your suggestions asap, and you too have a great day :)

acp ( 2014-07-21 02:11:16 -0500 )edit

DEPRECATED IN HYDRO: The <include> tag should be prepended with 'xacro' if that is the intended use of it, such as <xacro:include ...="">. Use the following script to fix incorrect xacro includes: sed -i 's/<include <xacro:include="" g'="" `find="" .="" -iname="" *.xacro`="" traceback="" (most="" recent="" call="" last):="" file="" "="" opt="" ros="" hydro="" share="" xacro="" xacro.py",="" line="" 60,="" in="" <module=""> xacro.main() File "/opt/ros/hydro/lib/python2.7/dist-packages/xacro/__init__.py", line 657, in main process_includes(doc, os.path.dirname(args[0])) File "/opt/ros/hydro/lib/python2.7/dist-packages/xacro/__init__.py", line 245, in process_includes filename_spec = eval_text(elt.getAttribute('filename'), {}) File "/opt/ros/hydro/lib/python2.7/dist-packages/xacro/__init__.py", line 476, in eval_text results.append(handle_extension(lex.next()[1][2:-1])) File "/opt/ros/hydro/lib/python2.7/dist-packages/xacro/__init__.py", line 464, in handle_extension return eval_extension("$(%s)" % s) File "/opt/ros/

acp ( 2014-07-21 09:29:29 -0500 )edit

thats the output of the command, the fact is that moveit_setup_assistant cant load the urdf file due to is invalid format.

acp ( 2014-07-21 09:31:05 -0500 )edit

Well, I could have load in moveit the urdf file from jacoROS, do you know a nice site where they explain how to create the links, joints and effector in kind of open CAD?

acp ( 2014-07-21 10:16:58 -0500 )edit

I think that error is because the urdf is outdated. I am sorry, I know nothing about gazebo. Search for tutorials.