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ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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`ee_link` exists in SRDF files but not URDF #581

Closed danielcranston closed 2 years ago

danielcranston commented 2 years ago

Looking at the melodic-devel-staging branch which I believe to be the main melodic (and noetic?) branch after reading around a bit (and considering it's targeted as the dependant branch in the Universal_Robots_ROS_Driver repo).

I'm curious, what's the deal with ee_link ? It is expected in the SRDF files (see e.g. here), but the URDF makes no mention of it (see here).

Is the intention to keep ee_link in the TF tree or remove it?

gavanderhoorn commented 2 years ago

ee_link has already been removed, and the remnant in the MoveIt configurations will also be removed (in fact: they must be completely recreated).

It never aligned with any physical or conceptual link in the real robot or its control system, so its use was limited.

tool0 is aligned with an unconfigured tool frame on the UR CB.

The flange frame should be used to attach EEF models to.

See Coordinate Frames for Serial Industrial Manipulators for the guiding principles used to align the UR xacro:macro with other robot support packages.

gavanderhoorn commented 2 years ago

As this is more of a usage question, and not a problem with the packages in this repository, I'm going to close the issue.

Feel free to keep commenting on it of course.