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emr2_moveit_config's Introduction

emr2_moveit_config

usage $ ros2 launch emr2_moveit_config demo.launch.py

Bug-Solver

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'

=> moveit/moveit2#2734

.setup

GitHub speichert keine Versteckten Dateien, daher für die Nutzung der Moveit-Setup-Assistenten vorher die GitHub-Datei setup_assistant in .setup_assistant umbenennen

ur.urdf / ur5x

Das Default im File ur.urdf.xacro auf ur3e, ur3 oder ur5e setzen

Zeile 10: <xacro:arg name="ur_type" default="ur5x"/>

=> <xacro:arg name="ur_type" default="ur3e"/>

Dann das urdf-File im Ordner /home/oj/ur3_ws/src/Universal_Robots_ROS2_Description/urdf/ur.urdf
mit dem Xacro-Befehl erzeugen:

$ cd ~/ur3_ws/src/Universal_Robots_ROS2_Description/urdf $ xacro ur.urdf.xacro name:=ur > ur.urdf

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