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How can I modify a URDF file for a KUKA robot?

In principal this is possible. You would need to re-write the URDF (probably automated using .xacro) to match the physical properties (inertia, dimensions etc.) ...
Scoeerg's user avatar
  • 151
1 vote

get inertia matrix in urdf

The SI units of inertia are $kg * m ^2$ we use SI by default. The values are just the inertia tensor. The mass of the object is represented separately, but is inherent to the inertia. There is a ...
Tully's user avatar
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error while using diff_drive plugin

The docs you are using might be for a newer version of gazebo. I was getting the same joint errors when using camelCase tags as you have shown. This file works for me: ...
Michael Ribbons's user avatar
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How to clone Universal Robots ROS 2 driver packages grom GitHub?

You are mixing ROS and ROS 2 versions. roslaunch is from ROS, and Universal_Robots_ROS_Driver is also for ROS (use Universal_Robots_ROS2_Driver for ROS 2) can you ...
Christoph Froehlich's user avatar
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How can I add mesh?

Mesh is normally added to the link, and moves with this link. You need to specify the mesh file (ply or stl) as related to the root of the ROS package where the file resides. Meshes can be either ...
Bourumir Wyngs's user avatar
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How can I construct a semi-circle in urdf

Just use Python. You can easily write Python code to generate .ply files for the simple shapes. This format is (optionally) text based and not so complex. Most of the tools that support STL files in ...
Bourumir Wyngs's user avatar
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URDF seems to be not genuine when running with ros2_control and custom hardware interface

The mesh references in your URDF look for me strange: <mesh filename="file://$(find robot_description)/meshes/base_link.STL"/> Normally mesh ...
Bourumir Wyngs's user avatar
1 vote

URDF seems to be not genuine when running with ros2_control and custom hardware interface

Have you seen that your hardware component cannot be configured? Hardware components do not have an executor or spawn a node. In the failure cases, you call ...
Christoph Froehlich's user avatar
1 vote
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Gazebo robot falls over on spawn; "The published robot description file (urdf) seems not to be genuine"

I have had a robot fall over when spawning because it was spawning in the ground. I am not sure that is the case here but making sure it spawns a centimeter above the ground has fixed this issue for ...
McQueenPC's user avatar
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Gazebo robot falls over on spawn; "The published robot description file (urdf) seems not to be genuine"

A robot might fall over if the controller could not be loaded properly. The URDF error can happen if you have configured joints which are not included in your URDF, see the release notes here (only ...
Christoph Froehlich's user avatar

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