Affected ROS2 Driver version(s)
apt-release (ros-humle-ur)
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Docker
How is the UR ROS2 Driver installed.
From binary packets
Which robot platform is the driver connected to.
UR E-series robot
Robot SW / URSim version(s)
No real robot so far
How is the ROS driver used.
Others
Issue details
Summary
Based on documentation and launch file inspection of ur_moveit_config and ur_robot_driver, it's not clear to me how to use the ur in gazebo.
Issue details
I've been using the ur_moveit_config and ur_robot_driver packages to have rviz and being able to plan & execute some movements (with use_fake_hardware = true).
I've spawned gazebo with ros2 launch gazebo_ros gazebo.launch.py to start the simulator.
Further, it's told by some tutorials, that the spawner can 'easily' introduce the robot based on /robot_description to the simulation scene. It runs successful, stating that the robot has been added. I can see it appeared under models, but is not visible.
I've seen that the urdf has some arg called sim_gazebo which false and cannot be accessed by the 2 launchfiles ur_moveit.launch.py and ur10e.launch.py. So I'm wondering, what is the intend way of making the robot visible in Gazebo? Or is it a completely other problem?
Steps to Reproduce
Install ur packages with
apt install ros-humble-ur, execute the launch files mentioned above and then start gazebo. Try to add the robot to the scene with the spawner skript: ros2 run gazebo_ros spawn_entity.py -topic robot_description -entity my_robot
I would expect to see a robot in Gazebo. Although it's listened under the models section, its not visible.
I assume it has something to do with the argument in ur.urdf.xacro called 'sim_gazebo'.
Relevant log output
No response
Accept Public visibility
Affected ROS2 Driver version(s)
apt-release (ros-humle-ur)
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Docker
How is the UR ROS2 Driver installed.
From binary packets
Which robot platform is the driver connected to.
UR E-series robot
Robot SW / URSim version(s)
No real robot so far
How is the ROS driver used.
Others
Issue details
Summary
Based on documentation and launch file inspection of ur_moveit_config and ur_robot_driver, it's not clear to me how to use the ur in gazebo.
Issue details
I've been using the ur_moveit_config and ur_robot_driver packages to have rviz and being able to plan & execute some movements (with use_fake_hardware = true).
I've spawned gazebo with
ros2 launch gazebo_ros gazebo.launch.pyto start the simulator.Further, it's told by some tutorials, that the spawner can 'easily' introduce the robot based on /robot_description to the simulation scene. It runs successful, stating that the robot has been added. I can see it appeared under models, but is not visible.
I've seen that the urdf has some arg called sim_gazebo which false and cannot be accessed by the 2 launchfiles ur_moveit.launch.py and ur10e.launch.py. So I'm wondering, what is the intend way of making the robot visible in Gazebo? Or is it a completely other problem?
Steps to Reproduce
Install ur packages with
apt install ros-humble-ur, execute the launch files mentioned above and then start gazebo. Try to add the robot to the scene with the spawner skript:
ros2 run gazebo_ros spawn_entity.py -topic robot_description -entity my_robotI would expect to see a robot in Gazebo. Although it's listened under the models section, its not visible.
I assume it has something to do with the argument in ur.urdf.xacro called 'sim_gazebo'.
Relevant log output
No response
Accept Public visibility