How to add custom tool to robot end effector in URDF or Xacro for Moveit!

asked 2018-11-15 15:48:45 -0500

shreyasgan gravatar image

updated 2018-11-15 15:51:01 -0500

I am using ROS kinetic on Ubuntu 16.04

I would like to add a custom tool (CAD file) to my robot end effector, so that I can define a new point (on the custom tool) as the end effector for path planning.

I have a CAD file of the custom tool and the xacro/macro files for the desired robot (staubli tx90)

How would I go about this?

Is it possible to convert CAD to xacro?

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