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Import UR5 urdf to Moveit!

asked 2016-04-08 23:57:19 -0500

guodi gravatar image

updated 2016-04-08 23:57:54 -0500

I am trying to import UR5 arm using the setupAssistant in moveit! When I load the ur5.urdf.xacro file, it says

URDF/COLLADA file is not a valid robot model.

The urdf file I used is from here. Does anyone know how to fix it? I use a 14.04 Ubuntu and ROS Indigo.

Thank you!

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answered 2016-04-09 03:23:14 -0500

gvdhoorn gravatar image

When I load the ur5.urdf.xacro file [..]

It may be a bit confusing with all those files in the urdf directory, but ur5.urdf.xacro is not a top-level xacro (it doesn't instantiate a macro that provides a root link), so you can't load that.

For the UR5, load either the ur5_robot.urdf.xacro or the ur5_joint_limited_robot.urdf.xacro file. The former sets the joint limits to their actual values (+-2pi for all joints), while the latter restricts that to half of that (+-pi). MoveIt (and/or some of its planners) don't work too well with full 2pi joint limits, hence the joint limited variant of that file.

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Thanks for your reply! If so, is it possible that I could add a Barrett hand urdf file to the ur5 urdf file. Actually, I would like to connect the arm to a robotic hand.

guodi gravatar image guodi  ( 2016-04-09 03:57:27 -0500 )edit

Have you got URDF file for UR5 arm connected to Barret hand by any chance?

raf4343 gravatar image raf4343  ( 2017-07-26 09:06:09 -0500 )edit

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Asked: 2016-04-08 23:57:19 -0500

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Last updated: Apr 09 '16