Hi !!
I’m new on ROS and I need to control two robots :
- Staubli TX2-90L
- Staubli TX2-60L
The URDF of the Staubli robots come from the package staubli_experimental.
So I’ve made an URDF/XACRO file with two robots and my workcell STL file.
After this, I’ve made a MoveIt package with two “groups” and two kinematic chains.
I’m not sure about the method, if it’s good or not. Could you please help me ?
It works fine until I try to plan motion with Python and MoveIt.
Here my URDF file :
<?xml version="1.0" ?><xacro:include filename="$(find staubli_tx2_90_support)/urdf/tx2_90l_macro.xacro" />
<xacro:staubli_tx2_90l prefix="90"/>
<xacro:include filename="$(find staubli_tx2_60_support)/urdf/tx2_60l_macro.xacro" />
<xacro:staubli_tx2_60l prefix="60"/>
<link name="world"/>
<link name="table">
<visual>
<geometry>
<box size="0.3 0.3 0.5"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.3 0.3 0.5"/>
</geometry>
</collision>
</link>
<link name="table2">
<visual>
<geometry>
<box size="0.2 0.2 0.5"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.2 0.2 0.5"/>
</geometry>
</collision>
</link>
<link name="workcell">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://isiss_workcell_description/meshes/poc.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://isiss_workcell_description/meshes/poc.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="world_to_table" type="fixed">
<parent link="world"/>
<child link="table"/>
<origin xyz="0 0 0.25" rpy="0 0 0"/>
</joint>
<joint name="world_to_workcell" type="fixed">
<parent link="world"/>
<child link="workcell"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<joint name="world_to_table2" type="fixed">
<parent link="world"/>
<child link="table2"/>
<origin xyz="2 0 0.25" rpy="0 0 0"/>
</joint>
<joint name="table_to_robot" type="fixed">
<parent link="table"/>
<child link="90base_link"/>
<origin xyz="0 0 0.25" rpy="0 0 0"/>
</joint>
<joint name="table2_to_robot" type="fixed">
<parent link="table2"/>
<child link="60base_link"/>
<origin xyz="0 0 0.25" rpy="0 0 0"/>
</joint>