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ashishagg70 avatar ashishagg70 commented on August 10, 2024 6

can you attach your ur5.urdf.xacro file. or just see it should be like following:

`<xacro:macro name="ur5_robot" params="prefix joint_limited
shoulder_pan_lower_limit:=${-2pi} shoulder_pan_upper_limit:=${2pi}
shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi}
elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi}
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface">

.
.
.
.
<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="hardware_interface/PositionJointInterface"/>`

as suggested in #13 (comment)

from ur5_ros-gazebo.

Motion77 avatar Motion77 commented on August 10, 2024

can you attach your ur5.urdf.xacro file. or just see it should be like following:

`<xacro:macro name="ur5_robot" params="prefix joint_limited shoulder_pan_lower_limit:=${-2_pi} shoulder_pan_upper_limit:=${2_pi} shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi} elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} transmission_hw_interface:=hardware_interface/PositionJointInterface">

. . . . <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="hardware_interface/PositionJointInterface"/>`

as suggested in #13 (comment)

nice

from ur5_ros-gazebo.

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