Scene setup

[anhtuduong]

Table mesh (tavolo) has been added to the robot description to help moveit generate collision detection. This effects:

• params.py:

'spawn_x' : 0.5,
'spawn_y' : 0.35,
'spawn_z' : 1.75,

• ros_impedance_controller_ur5.launch:

<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param $(arg robot_name)/robot_description -model ur5 -x $(arg spawn_x) -y $(arg spawn_y) -z $(arg spawn_z)"/>

• ur5.urdf.xacro

<xacro:include filename="$(find ur_description)/urdf/inc/tavolo.xacro"/>

<link name="world"/>
<joint name="world_joint" type="fixed">
  <parent link="world"/>
  <child link="base_link"/>
  <!-- <origin xyz="0.5 0.35 1.75" rpy="0 0 0"/> -->
  <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

• ur5_controller.py:

# broadcast base world TF
self.broadcaster.sendTransform(self.base_offset, (0.0, 0.0, 0.0, 1.0), Time.now(), '/base_link', '/world')