Hey, for Section 2.3 of the ROS2 Manipulations Basics course, before using Moveit Setup Assistant, we copy a bunch of packages from the “ros2_sims_ws” directory which we cannot see in the course. I’m trying to get Moveit Setup Assistant working on my local machine, but when I try to use the ur_moveit.urdf.xacro file from the course, and try loading it during the first step of the Moveit Setup Assistant, it rejects it and says “Error loading URDF Path URDF/COLLADA file is not a valid robot model”. Now, I only have this ur_moveit.urdf.xacro file in my directory, and nothing more. Do I need to have all the other files from 2.3 of the ROS2 Manipulations Basics course? Does anybody know why the assistant is rejecting the file on my local machine? Even better would be if someone could give me all the files necessary to start Moveit Setup Assistant for a UR5e rather than the UR3 in the course. Thank you!
Hello @rlgraf ,
Yes, the reason why the Setup Assistant is failing to load the URDF file is that it cannot find some required files in your local system (which are included in the course environment). For example, you would need to have the model files in your local environment, as well as other needed URDF files (complex robots usually use several combined URDF files).
As you mentioned you’d like to load the UR5e robot instead, I’d suggest you download the official UR repository for ROS2 and use that URDF file directly: GitHub - UniversalRobots/Universal_Robots_ROS2_Description: ROS2 URDF description for Universal Robots
In order to specify the robot model to load, you will need to provide the ur_type value as indicated in this file: Universal_Robots_ROS2_Description/urdf/ur.urdf.xacro at rolling · UniversalRobots/Universal_Robots_ROS2_Description · GitHub
Hope this helps,
Thank you for your reply! I have the Universal Robots ROS2 Description git repo cloned, and I have tried uploading the ur.urdf.xacro, but am getting the same error. Where do I specify the ur_type? I tried changing the name from name=“ur_type” to name=“ur5e”. Is this the wrong approach? Should I leave the ur.urdf.xacro file generalized and include ur5e as the “optional xacro arguments”?
Russell