Sdh schunk hand on gazebo and ros

asked 2020-04-06 17:16:33 -0500

MarcoGiordano gravatar image

Hi, I'm trying to simulate the sdh schunk hand on gazebo. I installed the "schunk_modular_robotics" package as ROS driver for the hand, but if i launch my launch file with the urdf i see the hand without the finger and i can't see all the topics of the hand in rostopic list, despite the library sdh_only is install. this is the launch file <launch> <arg name="paused" default="false"/> <arg name="gui" default="true"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">

<arg name="paused" value="$(arg paused)"/>

<arg name="gui" value="$(arg gui)"/>

<arg name="debug" default="false"/>

</include>

<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find test_gazebo)/robot.urdf.xacro'"/>

<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model sdh -z 0.01 " respawn="false" output="screen"/>
</launch>

and this the robot.urdf.xacro

<?xml version="1.0" ?>



<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sdh">

<!-- common stuff -->


<!-- schunk sdh -->

<xacro:include filename="$(find schunk_description)/urdf/sdh/sdh.urdf.xacro"/>


<link name="world"/>

<!-- arm -->
<xacro:schunk_sdh name="sdh" parent="world">

<origin xyz="0 0 0.026" rpy="0 0 0"/>

<!--slightly above gazebo plane-->

</xacro:schunk_sdh>

</robot>
edit retag flag offensive close merge delete