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

asked 2017-09-29 02:14:38 -0600

pdmike
43 ●11 ●12 ●17

updated 2017-09-29 02:15:52 -0600

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?

edit retag flag offensive close merge delete

Comments

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 ( 2017-09-29 22:05:19 -0600 )edit

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

pdmike ( 2017-09-30 01:13:52 -0600 )edit

add a comment

2

answered 2017-09-30 13:40:16 -0600

andymcevoy
46 ●1 ●2 ●7

updated 2017-09-30 13:42:47 -0600

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.

edit flag offensive delete link

Comments

Thank you. The answer has helped me a lot

pdmike ( 2017-10-16 21:15:43 -0600 )edit

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

andymcevoy ( 2017-10-17 01:24:25 -0600 )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 ( 2018-07-20 03:51:12 -0600 )edit

add a comment

0

answered 2018-07-20 03:50:48 -0600

nmelchert

143 ●15 ●20 ●26 http://imr.uni-hannover.de/

@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.

edit flag offensive delete link

Comments

1

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 ( 2018-07-20 08:18:23 -0600 )edit

add a comment

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

Comments

2 Answers

Comments

Comments

Question Tools

Stats

Related questions

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

Comments

2 Answers

Comments

Comments

Question Tools

Stats

Related questions

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