moveit ur5机械臂末端添加焊枪STL 文件

1.将旱枪soildwork文件转换成stl文件，然后导入blender软件中，对焊枪进行等比例缩放，建立焊枪坐标系，让坐标系位于旱枪底部中心。

2.将STL文件加载进xacro文件中

整体xacro文件如下：

<?xml version="1.0"?>

<!--  
  Project Name: ebot 
  Created on:   2.10.2020
  Author: ROS team
  Copyright (c) 2020 eYantra IITB 
-->


<robot name="ebot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- ebot arm -->
  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
  <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />

  <xacro:ur5_robot prefix="" joint_limited="false" />

  <link name="world" />
  <!-- 关节属性 -->
  <joint name="fixed" type="fixed">
    <parent link="world" />
    <child link="base_init" />
  </joint>
  <link name="base_init">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.1 0.04" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.1 0.04" />
      </geometry>
    </collision>
  </link>
  <gazebo reference="base_init">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="ebot_joint" type="fixed">
    <parent link="base_init" />
    <child link="base_link" />
    <origin xyz="0 0 0.521" rpy="0.0 0.0 0" /> <!--576 height from ground-->
  </joint>
  <joint name="hp_joint" type="fixed">
    <parent link="wrist_3_link" />
    <child link="hanq_link" />
    <origin xyz="0 0.1 0" rpy="0.0 0.0 0" /> <!--576 height from ground-->
  </joint>
  <link name="hanq_link">
    <visual>
      <geometry>
        <!--旱枪STL文件位置-->
        <mesh filename="package://icl_ur5_setup_description/meshes/33.stl" />
      </geometry>
      <origin xyz="0 0 0" rpy="-1.57 0 0" />
      <material name="black">
        <color rgba="1 0.4 0 1" />
      </material>
    </visual>
  </link>
  <gazebo reference="hanq_link">
    <material>Gazebo/Black</material>
  </gazebo>
  <joint name="hp2_joint" type="fixed">
    <parent link="hanq_link" />
    <child link="hanq2_link" />
    <origin xyz="0 0.65 0.17 " rpy="0 0.0 0" /> <!--576 height from ground-->
  </joint>
  <link name="hanq2_link">
    <visual>
      <origin xyz="0 0 0 " rpy="0 0 0" />
      <geometry>
        <cylinder length="0.001" radius="0.001" />
      </geometry>
      <material name="yellow">
        <color rgba="10 10 0 1" />
      </material>
    </visual>
  </link>
  <gazebo reference="hanq2_link">
    <material>Gazebo/Black</material>
  </gazebo>

</robot>