From 02aaf1504abbd2c13d0498575e5641a86b3b4cb3 Mon Sep 17 00:00:00 2001
From: Dave Hershberger <dave.hershberger@sri.com>
Date: Thu, 9 Oct 2014 14:50:49 -0700
Subject: [PATCH] Added collision object for ur5's ee_link to workaround moveit
bug. https://github.com/ros-planning/moveit_core/issues/158
---
ur5_moveit_config/config/ur5.srdf | 1 +
ur_description/urdf/ur5.urdf.xacro | 9 ++++++++-
2 files changed, 9 insertions(+), 1 deletion(-)
diff --git a/ur5_moveit_config/config/ur5.srdf b/ur5_moveit_config/config/ur5.srdf
index 9b6db32..d5aba4a 100644
--- a/ur5_moveit_config/config/ur5.srdf
+++ b/ur5_moveit_config/config/ur5.srdf
@@ -50,4 +50,5 @@
<disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
<disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
+ <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
</robot>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 448b308..a3815ec 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -282,7 +282,14 @@
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
- <link name="${prefix}ee_link" />
+ <link name="${prefix}ee_link">
+ <collision>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+ </collision>
+ </link>
<xacro:ur5_arm_transmission prefix="${prefix}" />
<xacro:ur5_arm_gazebo prefix="${prefix}" />
--
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