Link UR10 and robotiq 3f adaptive gripper

asked 2020-01-20 13:32:24 -0600

sophvk gravatar image

updated 2020-01-20 13:56:31 -0600

Hi guys, I am not very experienced with ROS and I am trying to link the UR10 with the Robotiq gripper. I have both description packages, and I am trying to create a new xacro file in order to call them and link them. However, I think am not being succesful: I generate the urdf from the xacro file, and when checking (using check_urdf) it gives me this error:

Error: Failed to find root link: Two root links found: [palm] and [world]

So, this is the xacro file I created to call for the other packages:

<robot xmlns:xacro="" name="ur10_with_robotiqS">

  <!-- ur10 -->
  <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
  <!-- end-effector -->
  <xacro:include filename="$(find robotiq_s_model_visualization)/cfg/s-model_articulated_macro.xacro" />

  <!-- Include ur10 and eend-effector w parameters -->
  <xacro:ur10_robot prefix="" joint_limited="true"/>
  <xacro:s-model_articulated prefix="" />

  <!-- ur10 position in the world coordinate system -->
  <link name="world" />
  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link="base_link" /> 
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />

I understand why [world] is a root link but I do not understand why [palm] is (from the gripper). Also, I see that I never specify how is the gripper attached to the arm, but I am not exactly sure about how to do that, or in which part.

This is the xacro file of the 3f gripper: link text

And the whole repo for the hand visualization: link text

And lastly, the urdf of the UR10: link text

If anyone could help me it would be very much appreciated.

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