UR5 industrial repo and setup assistant, certain questions
Hi,
I am using MoveIt Setup Assistant
(MSA), to create a set of initial configurations for manipulations with universal robots UR5 arm. For this purpose, I have followed this link that guides through the steps. We used ROS industrial repositories of UR5 downloaded from this link into my catkin_ws
.
The initial step in the MSA step-by-step wizard requires a robot urdf model file, which I have used from ~/catkin_ws/src/universal_robot/ur_description/urdf
.
- The above location contains
ur5_robot.urdf.xacro
, andur5.urdf.xacro
. Is there any particular difference between the two? - The link states that
you can directly import XACRO files in addition to URDF files
however, I received the following error in MSA when using either of the xacro files. URDF/COLLADA file is not a valid robot model.
Then, I used the following commands to create a urdf file from the give xacro files.
xacro --inorder ur5.urdf.xacro > p4_tmp.urdf && check_urdf p4_tmp.urdf
giving me errors as follows:
Error: No name given for the robot.
at line 89 in /build/urdfdom-YMMa9X/urdfdom-1.0.0/urdf_parser/src/model.cpp
ERROR: Model Parsing the xml failed
Finally, the following succeeds giving the urdf file that I can use with MSA.
xacro --inorder ur5_robot.urdf.xacro > p4_tmp.urdf && check_urdf p4_tmp.urdf
The same command generates link tree of the UR5 robotic arm.
root Link: world has 1 child(ren)
child(1): base_link
child(1): base
child(2): shoulder_link
child(1): upper_arm_link
child(1): forearm_link
child(1): wrist_1_link
child(1): wrist_2_link
child(1): wrist_3_link
child(1): ee_link
child(2): tool0
- Next, when we need to create the virtual joint,
additional joints need to be defined to specify the pose of the root link on the robot with respect to a world coordinate system.
I am not certain how to assign values to different parts here. Is the following assignment correct.
Virtual Joinit Name: FixedBase
Child Link: world (should match the URDF root link)
Parent Frame Name: world
Type: fixed
thanks for help.
Zahid
Did you ever figure this out?