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2021-07-20 07:53:15 -0500 | answered a question | Gazebo sim UR10e plus Robotiq gripper The issue was in the URDF being faulty. There, I called the UR10e file both outside and inside the macro, causing proble |
2021-07-09 02:35:38 -0500 | commented answer | Gazebo sim UR10e plus Robotiq gripper Sure! Thank you. I will check your code in a moment. Meanwhile, I have uploaded my cobot folder in this repo. Please |
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2021-07-06 02:33:48 -0500 | commented answer | Gazebo sim UR10e plus Robotiq gripper Dear cambel07, thank you for your reply. I will try avoiding the prefix, but I added it for a future need of including |
2021-07-05 12:42:08 -0500 | commented answer | Gazebo sim UR10e plus Robotiq gripper Thank you for your reply. However, calling robot_base_link results in the error I stated above: Failed to find root li |
2021-07-05 03:40:35 -0500 | commented answer | Gazebo sim UR10e plus Robotiq gripper Dear @cambel07, thank you for your answer. I had not thought about this, and I have tried it just now. Your solution |
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2021-07-01 09:18:49 -0500 | asked a question | Gazebo sim UR10e plus Robotiq gripper Gazebo sim UR10e plus Robotiq gripper Dear All, I am trying to create a Gazebo simulation of an assembled robot compris |
2021-07-01 03:53:28 -0500 | commented answer | Linking error between UR10e and Robotiq 3-fingers gripper May I add here a question on which link is better suited for connecting the Robotiq gripper? Is my choice of ee_link co |
2021-07-01 03:32:46 -0500 | commented answer | Linking error between UR10e and Robotiq 3-fingers gripper Thank you, @gvdhoorn. You are absolutely correct and I am sorry for missing that out. Hopefully, I will not make the |
2021-07-01 03:31:47 -0500 | marked best answer | Linking error between UR10e and Robotiq 3-fingers gripper Dear All, I have been trying to create a URDF file for a collaborative arm (the Universal Robots UR10e) with a Robotiq gripper (the 3-fingers one). I have downloaded the packages of Universal Robots here and Robotiq here. I have also followed this guide on ROS wiki for installing dependencies for that Robotiq package. I have, as per usual, git cloned the packages inside a folder called src located in ~/catkin_ws/. I have then ran catkin_make when in catkin_ws directory. I can play with the launch files of the UR and Robotiq packages without issues. I am trying to create a custom URDF file inside of a package I made myself called cobot, which is located in the ~/catkin_ws/src/ directory with the other two packages. I have created it using catkin_create_pkg in the terminal. I have also created another package inside of cobot, called cobot_description (all these packages have been built too and I have sourced the setup.bash). Here I have made a urdf folder in which I have created a file with the following code: Following the ROS answers thread and ROS wiki guide. As the code tells, I am including two macros from the packages of UR and Robotiq and trying to connect the Robotiq hand to the end effector of the UR: I have checked that inside the macro I call, robotiq-3f-gripper_articulated_macro.xacro the first link is called palm. Also, the end effector link of the UR10e is called ee_link. I have tried changing links here. I have also tried using another xacro from Robotiq's package, although I am sure this is the correct one. Lastly, I have tried to browse and upload this URDF inside of MoveIt! Setup Assistant, obtaining this ... (more) |
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2021-06-30 13:19:23 -0500 | asked a question | Linking error between UR10e and Robotiq 3-fingers gripper Linking error between UR10e and Robotiq 3-fingers gripper Dear All, I have been trying to create a URDF file for a coll |