ROS urdf for Moveit!
Hi there!
I am currently working on a project, i am using servo motors to build a robotic arm. The arm is aligned vertically, the gripper points to the sky. In the joint description i wrote (urdf):
<limit effort="1.0" lower="0" upper="1.88" velocity="0.5"/>
meaning the joint state publisher will publish a state in the interval 0-1.88 radian (=120 grades). so my servos are moving 120 grades, 60 grades in each direction and are set to the center. When i start ROS Moveit! it publishes 0, for the initial positions, while i need 60 grades. Any ideas how can i fix this? How can i configure the urdf to start publishing positions in the center of the domain, causing a right move of my robot arm?
Thanks, TkrA
Just a comment, but your issue isn't only with MoveIt obviously: anything that uses urdf (and the joint definitions in yours) is going to assume that
0rad is your robot's zero-position.Yes, i thought there are some settings i can make in the urdf file, to define the correct zero-position. Until now i could't find anything. Thanks!
You might be able to hack this together with a mimic joint that has an offset.