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Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/yijiangh/Choreo.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-10-03
Dev Status DEVELOPED
Released UNRELEASED

Package Description

Support package for a framefab_mpp system using ABB6640. Includes linking to eef and external linear axis files.

Additional Links

No additional links.

Maintainers

  • Yijiang Huang

Authors

No additional authors.

To build the documentation

Install rosdoc_lite package by:

sudo apt-get install ros-lunar-rosdoc-lite

and run rosdoc_lite . at current path (where this readme file is stored). The generated documentation can be found in \doc\html folder. Start with the index.html.

To rebuild urdf

First run:

rosrun xacro xacro --inorder -o <your urdf>.urdf <your xacro>.xacro

and to launch moveit! setup assistant:

roslaunch moveit_setup_assistant setup_assistant.launch

After generating MoveIt! package with no workspace info, please find planning_context.launch and replace:

  <!-- Load universal robot description format (URDF) -->
  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find <robot>_support)/urdf/<your urdf>.urdf"/> 

with

  <param if="$(arg load_robot_description)" name="$(arg robot_description)"
         command="$(find xacro)/xacro --inorder '$(find <robot>_support)/urdf/<your xacro>.xacro'"/>

This will allow us to get rid of the urdf file and update workcell and eef info without recompiling moveit package.

References:

godel ABB_irb2400 setup

industrail_moveit KUKA_kr210 w/ linear axis setup

ROS answer - how to convert xacro file to urdf file?

ROS official doc - xacro

ROS official doc - urdf

ROS tutorial - Using Xacro to Clean Up a URDF File

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

No direct system dependencies.

Launch files

  • launch/irb6600_choreo.launch
      • sim_robot [default: true]
      • debug_rviz [default: false]
      • debug_core [default: false]
      • save_data [default: false]
      • save_location [default: $(env HOME)/.ros/]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged framefab_irb6600_support at answers.ros.org

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