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xacro to urdf

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

k5519995
39 ●6 ●8 ●15

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

jarvisschultz

9031 ●58 ●128 ●143 https://www.linkedin.c...

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

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

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: https://github.com/RethinkRobotics/sa...

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

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Last updated: Jun 14 '19

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