Using the Lynxmotion AL5D

[Kevin DeMarco]

On the MoveIt! website, one of the supported robots listed is the Lynxmotion AL5D ( http://moveit.ros.org/lynxmotion-servo/ ). However, I haven't been able to find the URDF file for this arm in the repository. Has anyone used MoveIt! with the AL5D?  Just wanted to check with the users before I created a new URDF file from scratch.

Thanks.

-Kevin DeMarco

[Tony Baltovski]

Did you find a URDF or even make one?  I have the AL5D and will be starting to work with it shortly.

[Fabs A-B]

Hey,

i just wanted to ask if there is any update on this topic.

Has one of you already created an URDF for the AL5D?

Kind regards Fabs

[Tony Baltovski]

Hi Fabs,  

I just started working on this now.  I created a basic URDF and am working on getting the ssc32 driver working.

[Fabs A-B]

Hey,

good to hear.

I also created a simple urdf but it is not 100% correct and it is plain urdf, see attached al5d.urdf .

Furthermore i am not sure if i create the planning groups in moveit the right way but that's another problem.

Kind regards

Fabs

[Daniel Robin Reuter]

Hi,

I also have a pure URDF-Model for the AL5D, which was sufficient to simulate the arm in gazebo and also to visualize the movements of a real arm in rviz. (We have an unmaintained driver for the ssc32 board, which I recently ported to hydro).

If someone is interested in writing moveit support for the AL5D I could provide the ssc32 driver (which is unmaintained).