Adding A ManipulatorΒΆ

Before you can add an end effector you need to first connect a robot to the world. Check the Include Robot and click Add Robot

In the Robot Brand field , choose Universal Robot

In the Robot Model field, choose ur5

In the Robot Base Link field, choose base_link

In the Robot End Effector Link field, choose ee_link

Since we want the robot to be at the origin point of the world, we can leave the origin field unchecked. Your final window should look like this:

../../_images/example_load_robot.png

After clicking Ok, you returning to the scene creation window, there should be a confirmation that the robot is loaded and the option to include an end effector

../../_images/example_robot_loaded.png

Next step: Adding an end effector