support: tool0 needed for URDFs about motoman

[shaun-edwards]

Are all robots missing tool0? If not, can you provide a list?

[phvass]

tool0 needed for the following files:

mh5_mesh_macro.xacro
sia10d_mesh_macro.xacro
sia20d_mesh_macro.xacro

[phvass]

Here is the folder with the correct xacro file from the training supplements: https://github.com/ros-industrial/industrial_training/tree/master/training/supplements/motoman_config/cfg

Could use Josiah's URDFs also. They have higher fidelity CAD detail...

[shaun-edwards]

The sia10d_mesh_macro.xacro doesn't appear to have a tool0 defined. Is this required for the training or just the other ones?

[phvass]

Looks like only the sia20d is used in the training material. However, I think we want a tool_0 for all manipulator URDF from here out. So let's add it to the sia10d and sia5d.

Thanks!

Paul

---

From: Shaun Edwards [[email protected]]
Sent: Saturday, January 25, 2014 1:59 PM
To: ros-industrial/motoman
Cc: Hvass, Paul B.
Subject: Re: [motoman] tool0 needed for URDFs (#21)

The sia10d_mesh_macro.xacro doesn't appear to have a tool0 defined. Is this required for the training or just the other ones?

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Reply to this email directly or view it on GitHubhttps://urldefense.proofpoint.com/v1/url?u=https://github.com/ros-industrial/motoman/issues/21%23issuecomment-33298524&k=PCy7eyfFfObklJZLFhSrcw%3D%3D%0A&r=t7HeNX5YsRLqn2GiimiYznGj9OujJZBv04FaP6SNhK8%3D%0A&m=r7rXklE2AKK%2BsjgXm3usvfAknC6wqpAiBdxjph2npis%3D%0A&s=37addb68312b6a84cae2ea55e102c2f93f55210e0ce7bd9de501648cc260a7ad.

[shaun-edwards]

Agreed. I will port the ones that are already defined for the first Hydro release. The others will have to wait for a later release(Hydro patch or later) since we will have to verify the geometry.

[mbharatheesha]

tool0 is still missing for the mh5/mh5L model in the Indigo release. Is there any update planned to be released soon?

[mbharatheesha]

(Gijs) just also noticed that there is no base link in mh5 model and sia20d model.

[gavanderhoorn]

Related: #45.