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Adding gripper to fanuc model (Moveit)

asked 2021-03-21 14:13:02 -0500

ludocomito gravatar image

Hi, I'm trying to make a simulation of a pick and place program using moveit as the motion planner and a Fanuc robotic arm as a manipultor. I noticed that on github, there's an entire repository of file dedicated to Fanuc and the ROS industrial program, but there is no model with a gripper attached. Since i am relatively new to using moveit, i was wondering whether there is any way to add it using the moveit setup assistant or any other method. I'm using 20.04 with ROS Noetic.

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answered 2021-03-22 10:23:20 -0500

gvdhoorn gravatar image

updated 2021-03-22 10:25:42 -0500

Connecting any kind of additional geometry to a ROS robot model will typically not be done using any kind of GUI (there have been private projects, but I don't know of anything publicly available), but will require you to create something called a composite xacro.

For the models in ros-industrial/fanuc and ros-industrial/fanuc_experimental specifically (and essentially all robot support packages under ros-industrial), you could refer to Working with ROS-Industrial Robot Support Packages, specifically the Using the provided xacros section ("Example: adding an end-effector to a robot").

Do not edit any files in robot description or robot support packages directly. You should consider them read-only.

Note: while this approach is fairly generic, success depends on the exact structure of the files you are using. It will work for the ROS-Industrial robot support packages, but not necessarily for any other packages you may come across.

The principles would be exactly the same (ie: instantiate the two models and then add a joint which connects two links in two different models), but the specific names of the models, the links and the structure might need adapting.

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Asked: 2021-03-21 14:13:02 -0500

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Last updated: Mar 22