I am using ROS Noetic Ninjemys with Ubuntu 20.04. I made a URDF of an end effector. I tried to configure it with MoveIt setup assistant. However, I am unable to adjust the prismatic joint "flange_vertical" while I try to define the robot poses.
My URDF is given below.
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="endeffector4">
<link name="world"/>
<link
name="base_link">
<inertial>
<origin
xyz="0.050387 0.039686 0.048716"
rpy="0 0 0" />
<mass
value="0.1149" />
<inertia
ixx="4.1367E-05"
ixy="-6.866E-14"
ixz="2.7746E-21"
iyy="4.3009E-05"
iyz="1.4022E-22"
izz="5.6702E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://endeffector4/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://endeffector4/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<joint name="world_base_link" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>
<link
name="vertical">
<inertial>
<origin
xyz="0 0.0502311372932116 0.00491665820356758"
rpy="0 0 0" />
<mass
value="0.00953772572267691" />
<inertia
ixx="7.5511917482841E-06"
ixy="7.3731952992275E-22"
ixz="2.38714677766247E-23"
iyy="1.58301414257507E-07"
iyz="-2.70631615917454E-08"
izz="7.55042505209247E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://endeffector4/meshes/vertical.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://endeffector4/meshes/vertical.STL" />
</geometry>
</collision>
</link>
<joint
name="flange_vertical"
type="prismatic">
<origin
xyz="0.050387 -0.060076 0.0086904"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="vertical" />
<axis
xyz="0 1 0" />
<limit
lower="0.04"
upper="0"
effort="1"
velocity="0.01" />
<calibration
rising="100"
falling="0" />
<safety_controller
k_position="20"
k_velocity="20"
soft_lower_limit="0.03"
soft_upper_limit="0.0" />
</joint>
<link
name="horizontal">
<inertial>
<origin
xyz="-0.014525 -1.569E-08 0.028652"
rpy="0 0 0" />
<mass
value="0.0063234" />
<inertia
ixx="3.8486E-06"
ixy="1.1544E-12"
ixz="8.5999E-08"
iyy="3.8887E-06"
iyz="-2.2122E-12"
izz="1.1115E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://endeffector4/meshes/horizontal.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://endeffector4/meshes/horizontal.STL" />
</geometry>
</collision>
</link>
<joint
name="vertical_horizontal"
type="revolute">
<origin
xyz="0 0.09 0.005"
rpy="-0.0056389 0 3.1416" />
<parent
link="vertical" />
<child
link="horizontal" />
<axis
xyz="1 0 0" />
<limit
lower="-3.14"
upper="1.5708"
effort="30"
velocity="3.14" />
</joint>
</robot>
There is no error. When I try to visualise the URDF with rviz, the joint moves as expected. I tried changing the limits of the prismatic joint, but that didn't work for me.
