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xacro to urdf

asked 2019-06-13 11:25:11 -0500

k5519995 gravatar image

Hi to all,

I am new to ROS and I am working on schunk_lwa4p arm and pg70 gripper attached at the end of it. I want to create moveit package and give movement to arm. And I have found the urdf file for this arm here as robot.urdf.xacro and I have converted this file to robot.urdf using rosrun xacro xacro --inorder -o robot.urdf robot.urdf.xacro ,

And I have found the urdf file for this gripper as pg70.urdf.xacro.

My question is how can I edit these two files and create the arm including the gripper at the end ?

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answered 2019-06-13 14:35:03 -0500

updated 2019-06-14 02:01:46 -0500

gvdhoorn gravatar image

This is typically done with another xacro file. So you write one xacro file that includes the xacro file for the arm and the gripper, and then connects them with a join of some kind (probably a fixed joint). Here's an example for the Sawyer robot:

Note that this xacro file includes xacro files for the robot, the Gazebo parameters, and the grippers.

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Asked: 2019-06-13 11:25:11 -0500

Seen: 480 times

Last updated: Jun 14 '19