Changing the Tool
If you wish to remove the default gripper and add a different tool, you will typically edit /stretch_description/urdf/stretch_description.xacro. Specifically, you will replace the following line to include the XACRO for the new tool and then follow directions within stretch_ros/stretch_calibration to generate a new calibrated URDF file (stretch.urdf) that includes the new tool.
<xacro:include filename="stretch_gripper.xacro" />
As an example, we provide the
stretch_dry_erase_marker.xacro file and its dependent mesh files with stretch_ros.
Some of the tools found in the Stretch Body Tool Share include URDF data. To integrate these tools into the URDF for your Stretch
cd ~/repos git clone https://github.com/hello-robot/stretch_tool_share cd stretch_tool_share/<tool name> cp stretch_description/urdf/* ~/catkin_ws/src/stretch_ros/stretch_description/urdf/ cp stretch_description/meshes/* ~/catkin_ws/src/stretch_ros/stretch_description/meshes/
Next add the XACRO file for the particular tool to
/stretch_description/urdf/stretch_description.xacro. Then you can generate and preview the uncalibrated URDF:
cd ~/catkin_ws/src/stretch_ros/stretch_description/urdf cp stretch.urdf stretch.urdf.bak rosrun stretch_calibration update_urdf_after_xacro_change.sh
Now visualize the new tool
roslaunch stretch_calibration simple_test_head_calibration.launch