Open anhtuduong opened 1 year ago
Table mesh (tavolo) has been added to the robot description to help moveit generate collision detection. This effects:
'spawn_x' : 0.5, 'spawn_y' : 0.35, 'spawn_z' : 1.75,
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param $(arg robot_name)/robot_description -model ur5 -x $(arg spawn_x) -y $(arg spawn_y) -z $(arg spawn_z)"/>
<xacro:include filename="$(find ur_description)/urdf/inc/tavolo.xacro"/>
<link name="world"/> <joint name="world_joint" type="fixed"> <parent link="world"/> <child link="base_link"/> <!-- <origin xyz="0.5 0.35 1.75" rpy="0 0 0"/> --> <origin xyz="0 0 0" rpy="0 0 0"/> </joint>
# broadcast base world TF self.broadcaster.sendTransform(self.base_offset, (0.0, 0.0, 0.0, 1.0), Time.now(), '/base_link', '/world')
Table mesh (tavolo) has been added to the robot description to help moveit generate collision detection. This effects: