Fix edo simulation in RViz and Gazebo #2
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Add new Collada models for the eDO robot
Add collision model Collada files
The technical sheet has listed bigger joint limits than the robot/eORL can reach.
|
Mass properties seem way off in the URDF (both the one from this repository and the one from https://github.com/Pro/eDO_description). That may be part of the reason why simulations need a fix.
(Apologies if this is not the right place to post. Issues are disabled for this project.) |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
I created a cleaned up and working version of the RViz and Gazebo simulation for the e.DO Robot.
The original package which is provided by Comau did not start up and the model which is used there is completely broken (wrong axes, different length of joints, …).
With my Version you can use RViz to plan a path and then control the e.DO robot in simulation. If someone wants to write a wrapper for the real robot, then you could even use RViz to control the real robot.
The packages you need are on my github Account:
https://github.com/Pro/eDO_description
https://github.com/Pro/edo_gazebo
https://github.com/Pro/edo_gripper_moveit
https://github.com/Pro/edo_gripper