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Does any body has the support package (need URDF file) for ABB IRB4600-60/2.05? OR What is the way to get .stl files for collision of links of robot (ABB IRB4600)?

urdf
irb

asked 2017-02-17 17:35:13 -0600

Muneeb

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I am new to ROS. I am trying to develop the URDF file for ABB IRB4600-60/2.05 robot but i am not understanding how to create collision models (meshes > collision (.stl files). Please let me know the way ..should i need to develop by own through CAD software ?

Thanks !

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answered 2017-02-18 05:11:20 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Creating collision meshes is relatively simple: in most ROS description or ROS-Industrial support packages they are simple the convex hulls of the normal (or visual) messages.

You can create convex hulls using a nr of meshing tools. Two frequently used ones are Meshlab and Blender.

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Thanks for your response ..It is quite simple by using convex hull option in meshlab tool .. One can find 'convex hull' option in meshlab (Filters > Remeshing, Simplification and Reconstructiion > convex hull)

Muneeb ( 2017-02-21 09:59:52 -0600 )edit

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Asked: 2017-02-17 17:35:13 -0600

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Last updated: Feb 18 '17

Does any body has the support package (need URDF file) for ABB IRB4600-60/2.05? OR What is the way to get .stl files for collision of links of robot (ABB IRB4600)? edit

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Does any body has the support package (need URDF file) for ABB IRB4600-60/2.05? OR What is the way to get .stl files for collision of links of robot (ABB IRB4600)?