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Added config and launch files UR10 and hand lite #187

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merged 3 commits into from
Oct 5, 2016
Merged

Added config and launch files UR10 and hand lite #187

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1fae6cb
Added config and launch files
Sep 27, 2016
a4a33de
changed comment and mapping
Oct 4, 2016
8960e67
Deleted launch file
Oct 5, 2016
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29 changes: 29 additions & 0 deletions sr_multi_description/urdf/right_srhand_lite_ur10_joint_limited.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,29 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="ur10srh">
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if changing robot name, needs to be changed here too (see next comment)


<!--<xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />-->
<xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro"/>

<link name="world"/>

<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="ra_base_link"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>

<xacro:ur10_robot prefix="ra_" joint_limited="true"/>

<xacro:include filename="$(find sr_description)/materials.urdf.xacro"/>
<xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro"/>
<xacro:include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro"/>

<xacro:shadowhand muscletrans="false" muscle="false" bio="false" bt_sp="false" ubi="false" eli="false"
reflect="1.0" prefix="rh_" extra_lite="false"/>

<joint name="ra_arm_to_hand" type="fixed">
<parent link="ra_ee_link"/>
<child link="rh_forearm"/>
<origin xyz="0.012 0.0 0.0" rpy="${pi/2.0} ${pi} ${pi/2.0}"/>
</joint>

</robot>
17 changes: 17 additions & 0 deletions sr_multi_moveit/sr_multi_moveit_config/config/robot_configs/right_sh_lite_ur10.yaml
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robot:
name: ur10srh
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would it be worth having a different robot name for the ur10 with hand lite?

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It is in different parts of the launch files so I don't think it is not a good idea to change the names.

manipulators:
right_manipulator:
side: right
arm:
name: ur10
main_group: manipulator
moveit_path:
package: sr_multi_moveit_config
relative_path: /config/ur
group_states:
- home
- up
hand:
name: shadowhand_lite.urdf.xacro
is_lite: true