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ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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ur_kinematics/UR5KinematicsPlugin failed #375

Open yt100323 opened 6 years ago

yt100323 commented 6 years ago

ros: indigo os: ubuntu 14.04 my problem is that when i add a robotiq gripper to ur5, and then the ur_kinematics seems failed when using moveit to plan to a random pose while the bare ur5 model works fine

gavanderhoorn commented 6 years ago

when i add a robotiq gripper to ur5

if you've also updated the chain in your srdf, then that is probably why things stopped working: the plugins in ur_kinematics only work for the exact kinematics of the manipulator. No additional joints.

yt100323 commented 6 years ago

@gavanderhoorn Thank you for you replay, I have generated a new srdf file like this srdf and group "manipulator" do not add additional joint, what is the problem?

gavanderhoorn commented 6 years ago

what is the problem?

I'm not sure: what is the problem now?

Note: the chain is defined as base_link->ee_link in the original UR5 SRDF.