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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
Apache License 2.0
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KR500 R2830 MT Support #214

Closed emielke12 closed 2 years ago

emielke12 commented 2 years ago

Hi, we are looking to use a KR500 R2830 MT. I have attempted to create my own URDF using the solidworks to URDF plugin, but i've had enough issues that I think I should ask for help. My main questions/issues are:

I successfully exported and brought in a robot into moveit using this path, but I want to be sure I am doing everything correctly.

gavanderhoorn commented 2 years ago
  • How to know where the 0 joint angle is (I assume it is with the arm fully extended, [..])

yes, that's what the zero position is for all robots I've worked with.

It's easy to check: if you have KukaSim or an actual robot, jog it to that pose.

If not: create your model with that zero pose, start a driver and see whether the poses corresponds to that which your real system is in. If you've got the zero pose wrong, it'll be rather apparent.

  • How to set the robot to those 0s in solidworks so that it exports correctly -- Or do I even need to worry about this?

This I can't help you with, as I never use that plugin.

gavanderhoorn commented 2 years ago

As this is not an issue with the packages in this repository, I'm going to close it.