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OrebroUniversity / yumi

ROS packages pertaining to the ABB YuMi (IRB 14000) robot
BSD 2-Clause "Simplified" License
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Unable to load yumi_moveit_config in moveit setup asisstant! #24

Open janisa9 opened 6 years ago

janisa9 commented 6 years ago

I don't understand what i am doing wrong but i can't load yumi moveit config in setup asisstant to edit it. selection_001

Okay setup asisstant says that it is unable to locate urdf file yumi.urdf, although in yumi/description/urdf folder there is not file with such an extension. There are only yumi.urdf.xacro, yumi.xacro and some other files selection_002

Although usually files with urdf.xacro is possible to load in setup asisstant. So can anyone help me to selve this problem or try yourself if you have the same problem?

P.S Sorry for bad quality pictures, something went wrong.. But as it is possible to understand them and due to time absence I won't try to change them. :)

tstoyanov commented 6 years ago

Hi, this is a known issue, as I could not find a way to convince moveit to open the xacro files. Probably there is a better way to do it, but at the moment, I suggest to manually run xacro on the yumi.urdf.xacro, passing along as an argument the interface to the robot that you need (either position or velocity) like this: roscd yumi_description/urdf/ rosrun xacro xacro.py yumi.urdf.xacro prefix:=PositionJointInterface > yumi.urdf

If you come up with a better way (maybe changing something in the setup assistant launch file?) please try it out, test it, and open a pull request. We'd be happy to have this issue solved.

cheers, T.

gavanderhoorn commented 6 years ago

A workaround for this could be to create two top-level wrapper xacros that define values for the prefix arg. Those could then be loaded into the MSA directly.

Note that on Indigo the MSA can load xacros that require Jade+ xacro since ros-planning/moveit#540. That may further simplify things.