源码参考b站up主哈萨克斯坦x的视频:https://www.bilibili.com/video/BV1pT411m7Dh/?spm_id_from=333.1007.top_right_bar_window_history.content.click&vd_source=acd99cbaf494637e545c24bea3fd9f0e运行ur5_with_gripper.launch时发现gazebo中robotiq85夹爪出现解体乱飞的问题,在网上找了很多资料终于给弄好了
1,把robotiq_85_gripper/robotiq_85_gripper.urdf.xacro中的关节属性 “continuous”修改为“revolute”
2,把下面两个包添加到工作空间并编译
GitHub - JenniferBuehler/gazebo-pkgs: A collection of tools and plugins for Gazebo
3,把robotiq_85_simulation文件夹下的插件替换如下并编译
GitHub - roboticsgroup/roboticsgroup_gazebo_plugins: Collection of small gazebo plugins for ROS
4,按下面这个博客里的步骤配置(35条消息) 在Gazebo 9 里 仿真robotiq 2f85 gripper_mimic joint_Balloontime的博客-CSDN博客
成功解决!