zakizadeh's profile - activity

hi . i found this example : UR5 i want run this example . i install ur5 package . ur5 github

and found source code here

how can i run this example ??

hi . i want plot position and velocity of end effector that have fixed joint using rqt. How to plot position(x y z) and velocity of fixed frames(end-effector) in rqt ?? i searched and searched but couldn't find any example for plot position(x y z) of fixed frames(end-effector) in rqt . in matlab we can plot like this :

hi . I Tried so hard but I still have problems . I'm disappointed . can you help me please ! i need your help

hi . I Tried so hard but I still have problems . I'm disappointed . can you help me please ! i need your help

i send all robot files by email for you . i tried for 2 months ! but i cant solve problem . please help me.

i updated image in my question.i edited my urdf to create contacts points between the gears . can you wrirte A simple example for rotat two gears ??

i have two gears in my urdf . i want rotate two gears in same time . U31_1 and U32_1 are gears .

my urdf :

 <link
    name="link_U31_1">
    <inertial>
      <origin
        xyz="-8.87891218881443E-11 7.94085594724159E-07 -0.00670118881241989"
        rpy="0 0 0" />
      <mass
        value="0.0791354618215319" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U31_1.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="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U31_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_U31_1"
    type="revolute">
    <origin
      xyz="0.0375000001895901 0 0.0547500000000001"
      rpy="0 6.93889390390723E-16 0" />
    <parent
      link="link_U33_1" />
    <child
      link="link_U31_1" />
    <axis
      xyz="0 0 1" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
  </joint>
 <link
    name="link_U32_1">
    <inertial>
      <origin
        xyz="-1.49046497366356E-10 -0.000127794819901189 1.88843510273706E-10"
        rpy="0 0 0" />
      <mass
        value="0.019633991990533" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin <link
    name="link_U32_1">
    <inertial>
      <origin
        xyz="-1.49046497366356E-10 -0.000127794819901189 1.88843510273706E-10"
        rpy="0 0 0" />
      <mass
        value="0.019633991990533" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U32_1.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="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U32_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_U32_1"
    type="revolute">
    <origin
      xyz="-0.0075000004012061 0 0.0422500000000005"
      rpy="1.5707963267949 0 1.5707963267949" />
    <parent
      link="link_U33_1" />
    <child
      link="link_U32_1" />
    <axis
      xyz="0 1 0" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
  </joint>
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U32_1.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="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U32_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_U32_1"
    type="revolute">
    <origin
      xyz="-0.0075000004012061 0 0.0422500000000005"
      rpy="1.5707963267949 0 1.5707963267949" />
    <parent
      link="link_U33_1" />
    <child
      link="link_U32_1" />
    <axis
      xyz="0 1 0" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
  </joint>

when load model in gazebo and Rviz from starting have this pose . how can edit my urdf or xacro file to load robot correctly ??

yes . i paused simulation. robot is fallen to the ground in RViz too !

Pose and orientation of my robot is incorrect in Gazebo and RViz .

I have exported the URDF from Solidworks using solidworks to URDF plugin. I didn't modify any option in dialogues opened during export. Then i created an URDF package in ROS workspace and spawned the robot model into the world which resulted in inverted pose of the robot as shown in picture.

when load model in gazebo and Rviz from starting have this pose . how can edit my urdf or xacro file to load robot correctly ?? my xacro file : https://www.dropbox.com/sh/d4wjdjie1s...