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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
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Apr 5, 2014, 10:07:11 PM4/5/14
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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
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Jul 9, 2014, 7:51:46 AM7/9/14
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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
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Oct 2, 2014, 6:12:35 PM10/2/14
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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
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Oct 3, 2014, 5:28:28 PM10/3/14
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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.
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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).