Add an end effector to the UR robot.
I want to add an end effector to the UR robot. Actually, I want to add a 2D laser scanner. I first write an xacro file to add a model to the UR end, then use moveit_set_assistant to generate a config file, and then add a laser plugin to gazebo. But do you know how to write xacro files that add models to the UR end? I wrote for a long time and the total was wrong.
This seems like a duplicate, or at least related to, #q348017.
Could you clarify?