Adding YR-UP50N-35 URDF and Meshes

[matthias-mayr]

In a project we have a couple of YR-UP50N-35 robots. I did not see any URDF or meshes for this robot model in this repo or anywhere else on the internet.

Do you have the means to generate those from the robot specifications and add them to this repo? Especially for the meshes, it is usually challenging to place them accurately without internal information.

Thanks in advance.

[gavanderhoorn]

@EricMarcil may be able to help with the support package.

In the meantime: those robots are typically/only used with NX100 controllers. You are probably aware, but just to make sure: MotoROS is not compatible with those controllers.

[EricMarcil]

@matthias-mayr I added the model on the following branch:

https://github.com/EricMarcil/motoman/tree/up50n-35

Let me know if that work for what you needed.

[matthias-mayr]

In the meantime: those robots are typically/only used with NX100 controllers. You are probably aware, but just to make sure: MotoROS is not compatible with those controllers.

@gavanderhoorn: I was not explicitly aware of that yet. thanks. I just know that it is a pretty old robot with a pretty old controller.

@EricMarcil: Thanks a lot for the URDF and the support of legacy robots. We'll see if it does what it needs to do and will come back in case it doesn't.
Since the Motoman driver does not support that robot, it makes sense that it's in a branch in your fork. I was thinking about placing it in a separate repo somewhere, so if anyone else is looking for that URDF, it can be found.

[gavanderhoorn]

We'll merge it here in ros-industrial/motoman. The driver just happens to be in the same repository, but we don't tie availability of support packages to compatibility with motoman_driver.

[matthias-mayr]

Great. Even better.

[EricMarcil]

We'll merge it here in ros-industrial/motoman. The driver just happens to be in the same repository, but we don't tie availability of support packages to compatibility with motoman_driver.

@gavanderhoorn I wasn't sure we wanted to put it in the main repo. That's why I didn't do a PR to bring it in the main repo. I could also zip it and attach it to this discussion. Note that I put the default controller as DX100 because the NX100 is not available, but that is technically wrong.

[gavanderhoorn]

My suggestion would be to remove the two .launch files related to the driver, but keep the load_...launch and test_...launch.

We should then add a readme or a section to the package manifest clarifying this particular package can't be used with motoman_driver due to the controller not being compatible.

Then please just submit a PR as usual.