mkrizmancic / franka_gazebo Goto Github PK

Gazebo can't find the materials for meshes and robot becomes invisible

@mkrizmancic

Hi. I want to use Panda in gazebo with MoveIt.
For that we have to use joint trajectory controller instead of joint position controller.
I folked this repo and implemented joint trajectory controller and moveit interface.
https://github.com/takayuki5168/franka_gazebo/tree/joint-trajectory-action

Could you merge if I will make this PR?
Please tell me your opinion.

Hello,
I'm not an expert in URDF. I'm trying to deploy Franka on RVIZ with ROS melodic.
I'm getting the Franka links spread around using this command

<xacro:panda_arm xyz="0 0 0.5"/>

but when I run

<xacro:panda_arm/>

It is deployed well.
I found that the xyz argument is used inside the xacro files in the link/visual/origin and link/collision/origin task as it is done here.
I do not know if this is correct, because the xyz argument should move the robot w.r.t. its parent joint and not each one of their links w.r.t. their parent joint.
I removed that and it works.

On the other hand if the connected_to arguments is used, a link with that name is declared here. I would imagine that this link is declared outside the arm URDF definition, and this is a re-declaration.

If I'm ok, I can do the pull request.