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2018-09-14 17:25:04 -0500 marked best answer Part of the robot (UR5 with robotiq gripper) not showing up in gazebo

Hi,

I'm working on a simulation combining the UR5 arm and a robotiq 2-finger gripper together. The arm shows up completely in gazebo, but the base of the gripper does not show up despite added intertial parameters. But in Rviz it shows up just fine. So I guess gazebo doesn't like something about the robotiq xacro file, but I can't find out what. Hopefully someone can help me. I'm using ROS Indigo and Gazebo 2.2.3.

Here you can see how it looks in rviz and gazebo: https://i.imgur.com/vHwSoId.png Sometimes that triangle shows up, but not every time: https://i.imgur.com/VPYqIdS.png

This is the xacro file containing the description for the robotiq gripper: https://github.com/philwall3/robotiq/...

And this is the top level xacro that combines the arm and gripper and that I load in gazebo:

<robot xmlns:xacro="http://ros.org/wiki/xacro"
       name="ur5" >

    <!-- THE ROBOT -->
    <link name="world" />

    <!-- UR from ROS-i repos -->
    <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />
    <joint name="world_joint" type="fixed">
        <parent link="world" />
        <child link = "simple_arm_base_link" />
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    </joint>
    <!--xacro:ur5_robot prefix="simple_arm_" joint_limited="false"/-->
    <xacro:ur5_robot prefix="simple_arm_" joint_limited="false"/>

    <!-- Robotiq from Beta Robots fork-->
    <xacro:include filename="$(find robotiq_2f_model)/model/robotiq_2f_85.urdf.xacro" />
    <xacro:robotiq_2f_85 name="simple_gripper" parent="simple_arm_tool0" precise_collision="false" adaptive_transmission="false" with_pads="true">
        <origin xyz="0 0 0" rpy="0 0 1.5708" />
    </xacro:robotiq_2f_85>

    <gazebo>
      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">       
      </plugin>
    </gazebo> 
</robot>

And here is the launch file:

<launch>
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find myrobot_gazebo)/worlds/myrobot.world"/>
    <!--arg name="paused" value="false"/-->    
    <!-- more default parameters can be changed here -->
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>

  </include>

  <!-- Convert an xacro and put on parameter server -->
  <param name="robot_description" command="$(find xacro)/xacro.py $(find myrobot_description)/urdf/join_macro.xacro" />

  <!-- Spawn a robot into Gazebo -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model myrobot -z 0.1" respawn="false" output="screen" />

  <include file="$(find myrobot_gazebo)/launch/controller_utils.launch"/>
  <rosparam file="$(find myrobot_gazebo)/config/gripper_controller_robotiq.yaml" command="load"/> 
  <node name="gripper_controller_spawner" pkg="controller_manager" type="spawner" args="gripper --shutdown-timeout 0.5" />

  <!--include file="$(find ur_gazebo)/launch/controller_utils.launch"/-->
  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" command="load"/>
  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>    

</launch>
2018-02-22 05:59:06 -0500 commented answer How to include a .launch file on a remote machine from a .launch file?

Yes I mean in the machine element like shown in your example. I was missing it at first and it was not opening the ssh c

2018-02-22 03:24:34 -0500 commented answer How to include a .launch file on a remote machine from a .launch file?

Also the default="true" tag is needed to work properly. After adding that, it is finally working for me. Thanks!

2018-01-06 10:05:23 -0500 commented answer How to configure the Gripper_action_controller correctly

Thanks, that would be nice :) I have a robotiq 2-finger gripper and I moved it through Rviz with Moveit. Here is a bit m

2018-01-06 10:05:23 -0500 received badge  Commentator
2018-01-05 03:57:31 -0500 commented answer How to configure the Gripper_action_controller correctly

Yeah my Moveit config file looks like this. I managed to load the controller, but I can only move the gripper once. Whic

2018-01-04 03:36:01 -0500 commented answer How to configure the Gripper_action_controller correctly

Did you get any further? @sibylcut and @cgnarendiran

2017-12-21 04:32:37 -0500 commented question WSG32 gripper with a robot

Have you found a solution yet?

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2017-12-07 08:47:44 -0500 commented question Files for UR5 with Robotiq Wrist Camera, FT300, and 2 finger gripper

Yeah it's working for me. In moveit setup assistant you don't need a kinematic solver for the gripper. And have a look a

2017-12-07 08:47:17 -0500 commented question Files for UR5 with Robotiq Wrist Camera, FT300, and 2 finger gripper

Yeah it's working for me. In moveit setup assistant you don't need a kinematic solver for the gripper. And have a look a

2017-12-07 08:46:10 -0500 commented question Files for UR5 with Robotiq Wrist Camera, FT300, and 2 finger gripper

Thanks, I'll have a look at that link and see if there is any new information I could use.

2017-12-07 05:59:43 -0500 commented question Files for UR5 with Robotiq Wrist Camera, FT300, and 2 finger gripper

Not sure what you mean by "articulation of the gripper", but I am using this package for my 85 gripper: https://github.c

2017-12-07 05:52:52 -0500 answered a question Part of the robot (UR5 with robotiq gripper) not showing up in gazebo

I was not able to solve the problem with above package. But I found another package that works fine for me: https://gith

2017-11-30 04:53:34 -0500 commented question Files for UR5 with Robotiq Wrist Camera, FT300, and 2 finger gripper

did you get any further with this?

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2017-11-21 13:44:45 -0500 commented question Part of the robot (UR5 with robotiq gripper) not showing up in gazebo

Thanks for the suggestion! It's opening fine in Blender. Also Rviz and the moveit assistant wizard both open and show th

2017-11-21 02:28:46 -0500 edited question Part of the robot (UR5 with robotiq gripper) not showing up in gazebo

Part of the robot (UR5 with robotiq gripper) not showing up in gazebo Hi, I'm working on a simulation combining the UR5

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2017-11-16 10:40:27 -0500 edited question Part of the robot (UR5 with robotiq gripper) not showing up in gazebo

Part of the robot (UR5 with robotiq gripper) not showing up in gazebo Hi, I'm working on a simulation combining the UR5

2017-11-16 10:38:22 -0500 asked a question Part of the robot (UR5 with robotiq gripper) not showing up in gazebo

Part of the robot (UR5 with robotiq gripper) not showing up in gazebo Hi, I'm working on a simulation combining the UR5

2017-10-11 05:13:25 -0500 commented question Link UR5 Robot and Robotiq 3 Finger Gripper

@Rhemus did you figure it out by now?

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