Robot Models and URDFs

In the package autharl_descriptions we store models for different robot configuration, for example when you have LWR with the ATI sensor and the BarrettHand mounted.

Launch

In order to launch one of these configuration use the name as the parameter of the launch file. For instance in order to load the URDF and the RViz:

# Launch LWR with Barretthand mounted
roslaunch autharl_description display.launch config:=lwr_bhand

In order to launch only the URDF in the parameter server without opening RViz use the following file:

roslaunch autharl_description urdf.launch config:=lwr_bhand

Launch RViz, URDF and joint sliders:

roslaunch autharl_description sliders.launch config:=lwr_bhand

Furthermore, you can use the small_table argument in order to add the small table in the scene:

roslaunch autharl_description display.launch small_table:=true

Warning

In case you run any configuration which includes the ASUS Xtion camera please run the camera drivers as follows:

roslaunch openni2_launch openni2.launch camera:=asus_xtion publish_tf:=false

Update URDFs workflow

If you have to fix something or add a new URDF follow the following workflow:

• Update URDFs
  • Add any 3D models in dae format in descriptions/meshes/name-of-the-model/. Add also the STL, if available.
  • Add extra xacros in descriptions/urdf if necessary.
  • Update the xacros in descriptions/robots if necessary.
• Update the documentation
  • If you add a new xacro update the descriptions/README.md configurations list.
  • Check that every configuration in the list of descriptions/README.md is working properly after the changes.
• Update SRDFs in moveit configurations
  • Create a new moveit_config package based on the new URDFs using moveit setup assistant. See this tutorial: Create a new MoveIt! configuration package.
• Update possibly the robot’s interfaces models