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 2019-07-15
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

Deps Name
1 catkin

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