Closed Breakthru closed 2 years ago
fmauch
commented
2 years ago The version you've linked seems to be the rather outdated description. We are aware that this is not clearly communicated inside this repository and we are hoping to improve the situation soon (see #599).
For now I would recommend to use the melodic-devel-staging branch or my fork's calibration_devel branch when using it together with the ur_robot_driver.
gavanderhoorn
commented
2 years ago Any reason why the parameters in the xacro are not quite identical to those published by UR?
because the values in the xacro:macro are the values for one particular UR10, and not based on anything published by UR.
I believe it's one of the UR10s of @kphawkins -- from way back in 2012/2013.
gavanderhoorn
commented
2 years ago As this doesn't appear to be an issue with the package in this repository, I'm going to close it.
Feel free to keep commenting on it.
If it turns out this is something we need to address here, we'll re-open.
Universal Robots publish the DH parameters for their robots on this page: https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
For some reasons the parameters in the URDF are not the same, they're all just about 1mm different, except for d4 set to 0.135 when the UR webpage shows 0.17415.
https://github.com/ros-industrial/universal_robot/blob/06d8b9e2f5f86aa54f9f2845f11edbc84e2f951e/ur_e_description/urdf/ur10e.urdf.xacro#L58
two questions really: 1) Any reason why the parameters in the xacro are not quite identical to those published by UR? 2) How come d4 is so different?
Many thanks!