Wrist camera and 2 Finger gripper in ROS MoveIt! and Gazebo

VictorIgelmo 2018-10-11

Hello everyone,

I'm trying to simulate UR5 + Wrist camera + 2 Finger gripper in ROS, first in MoveIt! and then in Gazebo.
Do you know if there is a Wrist camera URDF/xacro?
Also, I've been using https://github.com/beta-robots/robotiq repository to simulate 2F 85 gripper, but I would like to switch to the kinetic version of https://github.com/ros-industrial/robotiq. However I can't attach the gripper to the robot easily through including the URDF file in my customised xacro file (as I could do with the beta robots URDFs)

Could you help me?

Best regards,
Victor Igelmo.

David_Levasseur 2018-10-11

@VictorIgelmo, the best two knowledgeable people I know on ROS are @carlosjoserg and @jproberge. Hopefully they will be assist you.

jproberge 2018-10-12

Hello @VictorIgelmo !

Unfortunately, I only have little experience in simulating devices in MoveIt! or Gazebo. However, here is some minimal information:

-You'll be able to find a valid UR5 model for simulation from the official Universal Robot ROS package available here . From what I know, they fully support (they have URDF/Xacro description files) for their UR3, UR5 and UR10.

-Unfortunately, we do not officially support the wrist camera in ROS at the moment, and I'm also not aware of any Repos that could provide you URDF/xacro files for this device.

-I know there are currently no description files for the 2F-85 gripper in our official Github repo. Hence, if I properly understood, you want to use/import a custom xacro file as an addition to your local clone of the officially supported repo? Again, I'm not sure I'll be the best to help you out if that's what you want to accomplish, but I'm willing to give it a try. If you want to share a bit more details about your specific problem(s) regarding that task, I would try to help you out as much as I can. What is happening / what issue(s) are you facing when you try to attach the gripper to the UR5 model?

Best regards,

Jean-Philippe Roberge

VictorIgelmo 2018-10-12

Hello @David_Levasseur and @jproberge ,

first of all thank you for your quick answer. I'll try to give you more details about each point:

I am already working with that ROS package. I would like to use unmodified ROS packages for each device, using my URDF/xacro only to set them all together.
I've read posts of people using wrist camera in ROS. Is it possible to control and is not possible to simulate? Do you have in mind to release official ROS packages for the wrist camera?
In the physical system, we have both 2F-85 and 2F-140 gripper, so we could use one or another. I can see you have 2F-140 packages in your Github repo (kinetic-devel). I used beta-robots gripper package like this:

<xacro:include filename="$(find robotiq_2f_model)/model/robotiq_2f_85.urdf.xacro" />
<xacro:robotiq_2f_85 name="gripper" parent="fts_sensor_fts_toolside" precise_collision="false" adaptive_transmission="false">
  <origin xyz="0 0 0" rpy="0 0 ${pi/2}"/>
</xacro:robotiq_2f_85>

I would like to know if it is possible to attach 2F-140 gripper in this way or if I have to create an entire custom URDF/xacro.

Best regards,
Victor Igelmo.