G.A. vd. Hoorn

The tutorial was actually based on the information in the `README.md` file, so it is duplicated. But I agree that it is something to fix. In other ros-i repositories, we...

Link to the tutorial mentioned by @davetcoleman: [Getting Started with a Universal Robot and ROS-Industrial](http://wiki.ros.org/universal_robot/Tutorials/Getting%20Started%20with%20a%20Universal%20Robot%20and%20ROS-Industrial).

You cannot use *geometry to origin*, as that will place the origin of the mesh in its centre of mass (ie: in the middle of "all the pixels/faces/vertices"). That's not...

@MBaranPeker: did you get things to work? If yes: would you be willing to contribute your variant to the `kuka_kr10_support` package?

Thanks for the PR. It includes some interesting ideas. c4533d3 seems to mimic ros-industrial/industrial_core#271, but makes it Motoman-specific. d1cd81a is a nice idea, but on my test setup (YRC1000, 4...

> This PR sets them to the place where they are supposed to be according to [UR's documentation](https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/) So where are the origins supposed to be (I haven't read the...

Unfortunately I won't have time to investigate this/support you. Perhaps one of the other maintainers (@ipa-nhg or @miguelprada) could lend a hand.

@fmauch: would this be something you could potentially work on during WRID20? I don't know whether you've already decided whether you'd join or not, so this is just a question/suggestion...

In light of #521, having correct `inertia` elements (and `mass`) is becoming more-and-more important.

@fmauch wrote: > @matteolucchi wrote: > > the inertia matrices of UR3 and UR5 can be left as they are, but we should add the exact inertia matrices extracted from...