EuRoC Forum

hi,

I am trying to use MoveIt! but I am new to it.

When I try to generaty a URDF file for the UR5 robot (rosrun xacro xacro.py ipa325_ur5_euroc.urdf.xacro > ur5_robot_ipa325.urdf)

I get the following incomplete file:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ipa325_ur5_euroc.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur5" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http
://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- common stuff -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
</plugin>
</gazebo>
<!-- ur5 -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
</plugin>
</gazebo>
<material name="UR/Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="UR/Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<!-- ur5 robot -->
</robot>

where the robot description is missing....

.....does anybody know how to generate a correct urdf file?

would it be possible to have a working urdf file from the Euroc team?

thanks

Dear ghepard1,
the file you try to convert into an urdf declares only the xacro function but not an fully descriptive urdf.

To use the robot (and environment) in MoveIt you need to actually call the xacro function (with all needed parameters) and create a valid scene description (E.g. definining where the robot is attached to and how the table looks like..)

What you probably want to do is the following:
rosrun xacro xacro.py ~/catkin_ws/src/euroc2014_fhg/ipa325_models/ipa325_robot_descriptions/urdf/scenes/ipa325_scene_euroc.urdf.xacro

Or use the xacro ipa325_scene_euroc.urdf.xacro directly in your MoveIt Wizard.

Kind regards,
ipa-lth