asked 2019-01-14 07:35:06 -0600

nd gravatar image

Hello, We are planning to work with Yaskawa Motoman GP180 robot to grasp parts. I did not found any support package from this link text link. anyone have worked with MoveIt! using this robot? OR any experience working with GP180 using Motoman driver+ROS?


edit retag flag offensive close merge delete


The driver is (almost) manipulator agnostic, so I expect it to work (YRC1000 controllers are fully supported). As to the support pkg: if you can't find one, you'll have to create one. It's not that difficult.

gvdhoorn gravatar image gvdhoorn  ( 2019-01-14 07:49:44 -0600 )edit

@gvdhoorn is there any standard way to generate package to work with real robot and driver or just using SW2URDF extension is enough? thanks.

nd gravatar image nd  ( 2019-01-14 08:01:30 -0600 )edit

Getting the meshes converted is one step, yes. You can use whatever tool you'd like for that. Make sure to set their origins properly though (so not at the robot's origin, but at the joint local origin).

Then use any of the existing pkgs as an example.

gvdhoorn gravatar image gvdhoorn  ( 2019-01-14 11:36:24 -0600 )edit