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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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SIA50D robot model support #334

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

Hi, Thank you for maintaining this high-quality package!

I was looking into an application using a SIA50D. As part of this I am looking for the robot description but it is not yet included in this repository.

Are there plans to add support for this model (even if only description/MoveIt config) to this package?

I am happy to contribute time and effort to adding the robot model but do not have access to meshes/further specifications. If someone from Yaskawa/Motoman follows this repository, or if you have access within ROS-Industrial, I am happy to help getting it added to this package if of interest.

Thanks, Wolfgang

EricMarcil commented 4 years ago

Hi, There was not plan to create a SIA50D package since it is an older model. But if you have an application, we can help you out. I've requested the SLT files for the links to our drawing department, so I can send them to you if you e-mail me at: eric.marcil@motoman.com

I can also help on the package but I'm not sure if I'll have time to do that before next week.

gavanderhoorn commented 4 years ago

@wxmerkt: have you been able to put something together?

wxmerkt commented 4 years ago

Hi @gavanderhoorn, I received the files but not had the time yet to extract the transforms to build the URDF. My plan is to do this over the next week.

gavanderhoorn commented 4 years ago

Take a look at motoman_gp88_support/tools/process_meshes. It could help reduce the amount of work.