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lbr-stack / lbr_fri_ros2_stack

ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/
Apache License 2.0
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Incorrect link `lbr_link_ee`, it appears inside the mesh. #125

Closed ardiya closed 8 months ago

ardiya commented 8 months ago

Dear Maintainers,

I'm currently using the noetic branch, and I am having troubles with the iiwa14.urdf as the lbr_link_ee appears inside the mesh, as shown in the image below

Ubuntu-2023-10-16-16-41-03

I'm expecting the lbr_link_ee to appears at the end effector tip.

I tried comparing it to iiwa_stack and noticed the https://github.com/IFL-CAMP/iiwa_stack/blob/master/iiwa_description/urdf/iiwa14.xacro#L332-L336 xyz="0 0 0.045" as opposed to xyz="0 0 0.035" in lbr_fri_ros_stack.

Is there any reason behind this?

mhubii commented 8 months ago

Hi @ardiya thank you for the feedback. I think you are right, all other values were obtained from the CAD model but this link.

Will fix!

Thank you very much, great catch!

mhubii commented 8 months ago

0.045 doesn't seem to be right though

ardiya commented 8 months ago

Yeah, that's true. Your original 0.035 is the same with the technical drawing of the basic flange though

image Based on the measurement in section 4.2.2 of https://www.oir.caltech.edu/twiki_oir/pub/Palomar/ZTF/KUKARoboticArmMaterial/Option_Media_Flange_en.pdf

mhubii commented 8 months ago

thank you for sharing, working on fixing this. Will re-export URDF from CAD

mhubii commented 8 months ago

could you please pull the latest noetic changes and report if it works for you? Thank you again for reporting this issue.

ardiya commented 8 months ago

Thanks @mhubii! It works great. Quick question: how do you get the CAD models? I have different flange and it's difficult to get the Mesh

mhubii commented 8 months ago

the CAD models are available on xpert.kuka.com , do you want me to add another model for you that has the correct flange? Please feel free to open a new issue in that case

ardiya commented 8 months ago

It's okay, I was able to find LBR iiwa 14 R820 with media flanges and able to download it.

@mhubii Do you you http://wiki.ros.org/urdf_from_step to convert step to urdf or is there any package that you recommend to convert it to URDF+mesh file?

mhubii commented 7 months ago

Hi @ardiya sorry for coming back so late. Personally, I had access to autodesk fusion 360 at the time and used the URDF exporter https://github.com/syuntoku14/fusion2urdf, that tools works incredibly well