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DENSORobot / denso_robot_ros

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Support xacro #31

Closed jahad9819jjj closed 4 years ago

jahad9819jjj commented 4 years ago

VS060 arm is now compatible with xacro. When applying the vs060 arm, various parts may be combined such as a dolly or an end-effector. Therefore, it would be difficult to simulate on Gazebo with only a single existing urdf file.Thus, the xacro file has been created to make it easier to extend the simulation in the future. This usage uses vs060_arm.urdf.xacro as a macro, so we call the above macro in vs060.urdf.xacro to create an entity.

Please use the following command to see if the URDF can be generated from XACRO correctly.

$ rosrun xacro xacro vs060.urdf.xacro > tmp.urdf
$ check_urdf tmp.urdf

If it succeeds in generating it, you should get the following output.

robot name is: vs060
---------- Successfully Parsed XML ---------------
root Link: world has 1 child(ren)
    child(1):  base_link
        child(1):  J1
            child(1):  J2
                child(1):  J3
                    child(1):  J4
                        child(1):  J5
                            child(1):  J6

There may be other files that need to be changed if you call URDF, but please refer to the commit history and change them.

It would be nice if these pull requests could be merged. Thank you!

CLAassistant commented 4 years ago

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