Attach robot arm to the table instead of ground!

asked 2015-03-12 07:03:29 -0500

edo_raci gravatar image

Hello Users,

I am trying with no success for 2 days to attach my robot arm, ur10 to a table in gazebo instead of the ground.

I have searched for the robot model .urdf but i cannot seem to find where i have to change it.

I always start the simulation with this code: roslaunch ur_gazebo ur10.launch limited:=true

I have found the file ur10.urdf.xacro and changed the pose and the robot was not attached to the ground anymore rather it was hanging around in the air because of the z coordinate which i have changed.

In this path: /opt/ros/indigo/share/urdescription/urdf/ i have the following files: ur10.urdf.xacro / ur10robot.urdf/ ur10.jointlimitedrobot.urdf/ ur10.jointlimitedrobot.urdf.xacro/.

I have tried to change the URDF files but as soon as i launch: roslaunch ur_gazebo u10.launch limited:=true the model isnt changed at all.

Does anyone know how to make the robot arm (ur10 in this case) fixed to a table rather then the world.

Best wishes.

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