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How to add a tool model onto the robot model which can be generated in the moveit

asked 2017-09-29 02:14:38 -0500

pdmike gravatar image

updated 2017-09-29 02:15:52 -0500

Hey guys, I have downloaded the UR10 robot description(including the urdf and other components) in the ROS without a tool on the end effector. Now i have a mechanical mechanism which has been exported as a URDF in Solidworks. The problem is how can i add the mechanical mechanism as a tool on the robot end effector and open the entire model in the RVIZ? Do you have any tutorial about it?

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do you just need to combine the URDF files? Your question makes it sound like you have a URDF of the UR10 and a URDF file of the end effector? Or do you just have the STL files from SW and need to create a URDF for the end effector?

andymcevoy gravatar image andymcevoy  ( 2017-09-29 22:05:19 -0500 )edit

Thanks for your reply. I have both URDF of UR10 and end effector. I want to combine them. Any suggestion?

pdmike gravatar image pdmike  ( 2017-09-30 01:13:52 -0500 )edit

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answered 2017-09-30 13:40:16 -0500

andymcevoy gravatar image

updated 2017-09-30 13:42:47 -0500

I typically use XACRO to combine arms and grippers.

for example:

<robot name="myrobot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">

<!-- myrobot urdf file -->
<xacro:include filename="$(find mypackage)/urdf/myrobotarm_no_end_effectors.urdf"/>

<!-- add any joints/links required to connect the two -->

<xacro:include filename="$(find mypackage)/urdf/an_end_effector.urdf.xacro" />

</robot>

I usually write the end effector as an xacro macro so that I can attach it to either a right or left arm or launch it standalone to trouble shoot the URDF file if need be.

Hope that helps.

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Thank you. The answer has helped me a lot

pdmike gravatar image pdmike  ( 2017-10-16 21:15:43 -0500 )edit

@pdmike since you didn't accept, can I assume there's some aspect of this you're still having trouble with?

andymcevoy gravatar image andymcevoy  ( 2017-10-17 01:24:25 -0500 )edit

@andymcevoy your answer helped me a lot.

Although the base packages of the robots can be remained untouched, I still find it very inconvenient that you need to create a new moveit package for every single tool configuration of your endeffector.

I am wondering If there is a more elegant way to be a

nmelchert gravatar image nmelchert  ( 2018-07-20 03:51:12 -0500 )edit
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answered 2018-07-20 03:50:48 -0500

@andymcevoy your answer helped me a lot.

Although the base packages of the robots can be remained untouched, I still find it very inconvenient that you need to create a new moveit package for every single tool configuration of your endeffector.

I am wondering If there is a more elegant way to be able to switch between urdf files inside of a moveit package.

Any Ideas how I can realize using different tool configurations in a xacro files like you proposed and still be able to use a single moveit package?

Thanks for the answer.

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This is not an answer to the original question. You've already done the right thing and asked a new question (#q298024) with a link to this question, so feel free to delete this answer. Everything that's not an answer should either be a question or a comment.

Martin Günther gravatar image Martin Günther  ( 2018-07-20 08:18:23 -0500 )edit

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Asked: 2017-09-29 02:14:38 -0500

Seen: 1,463 times

Last updated: Jul 20 '18