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How do i inport a urdf objekt into Ros Moveit? [closed]

asked 2021-03-13 09:15:57 -0500

JRZ gravatar image

Hello,

i am trying to inport a URDF into my Simulation, that the Roborter can grab it. Like in Add_box in this Tutorial: http://docs.ros.org/en/melodic/api/mo...

Thank you for your help.

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Closed for the following reason duplicate question by JRZ
close date 2021-03-13 09:39:09.644901

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answered 2021-03-13 09:29:01 -0500

fvd gravatar image

URDF files usually define robots (as the name says), not the objects that you add to your scene. To add an object to your planning scene, it needs to be formatted as a CollisionObject. Then you can publish it using the planning_scene_interface as shown in the tutorial you linked.

I haven't seen a converter between URDF and the CollisionObject message, but you could make one using this URDF parser.

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Asked: 2021-03-13 09:15:57 -0500

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Last updated: Mar 13 '21