UR5_Robotiq85_description

Repository for UR5_robotiq85 URDF and launch files, which can be both used in pybullet and ROS1-noetic. Models are downloaded from the repo, but the urdf downloaded contains ".." in filename, which ROS moveit urdf parser will throw an error. So we need to modify to origin urdf file to support that parser. (see here for more details) There is more explicit way to achieve the same goal, like using the xacro or urdf offered by ROS organization. Since I've been using the urdf file in production environment, to avoid unnecessary modification, a compatiable version with least modification is a better choice.

Table of Files

• [src]
  • [ur5_description] : a description package of ur5, containing the ur5_robotiq85 urdf and meshes.
  • [ur5_moveit_config] : a package created by moveit_setup_assistant, defining movegroup, collision matrix, etc. You also can create the config package using the urdf model in "ur5_description" by yourself.

Notes

The packages files are arranged in ROS style, and can be easily compiled in ROS1-noetic. When we want to use the urdf in pybullet, bear in mind the pybullet urdf parser will automatically ignore "package://" and treat the remaining uri as relative filesystem path.(see here for similar behavior in GAZEBO) So we need to rearrange the hierarchy of ur5_description as following:

• [ur5_robotiq_85.urdf]
  • [moveit_resources_ur5_description] : the dirname is defined by the package name in urdf. If you want to rename the package in urdf, see CMakeLists.txt and package.xml and change them both with the corresponding name in urdf.
    • [meshes] : the models required by ur5_robotiq_85.urdf
    • [...] : others useless files in pybullet