How to add a tf between Gripper camera and base_link in UR5

asked 2020-05-16 09:25:07 -0500

Atreya_Bhat gravatar image

I am a beginner and working on a project ,trying to simulate ur5 with a camera on its gripper. I have managed to make a small cube act as camera by updating the urdf files but in Rviz , in camera add on it says No tf between camera_link and base_link. I then linked the camera_link to base_link as parent, then I got the camera image output but the camera box is static and doesnt move with the gripper.

So I assume I have to create a tf between camera and base of the robot. How do I do this? Please Help.

A snippet from my urdf

<joint name="camera_joint" type="fixed"> <axis xyz="0 1 0"/> <origin xyz="${camera_link} 0.015 -0.015" rpy="0 0 0"/> <parent link="robotiq_85_left_knuckle_link"/> <child link="camera_link"/> </joint>

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Can you add the tf tree of your scene, which you can get with rosrun tf view_frames?

fvd gravatar image fvd  ( 2020-05-18 06:05:05 -0500 )edit