Create custom urdf file cannot execute in moveit

[XHao1997]

Hi,

I create a custom urdf for UR5 with a robotiq gripper according to your tutorial. But the arm saty still when I click execute in rviz, and after seconds it shows executed. Could you please provide more details on how to create the urdf and use it in moveit? I will appreciate it so much!

urdf.xacro file

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Include UR5 and Robotiq Gripper Macros -->
  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />

  <!-- Macro for Robot Cell -->
  <xacro:macro name="my_robot_cell" params="
    parent
    *origin
    ur_type
    joint_limits_parameters_file
    kinematics_parameters_file
    physical_parameters_file
    visual_parameters_file
    ">

    <!-- Define the UR5 Robot -->
    <xacro:ur_robot
      name="${ur_type}"
      tf_prefix="${ur_type}_"
      parent="world"
      joint_limits_parameters_file="${joint_limits_parameters_file}"
      kinematics_parameters_file="${kinematics_parameters_file}"
      physical_parameters_file="${physical_parameters_file}"
      visual_parameters_file="${visual_parameters_file}"
    >
      <origin xyz="0 0 0" rpy="0 0 0" />
    </xacro:ur_robot>

    <!-- Attach the Robotiq Gripper to the UR5's tool0 -->
    <xacro:robotiq_gripper
      name="RobotiqGripperHardwareInterface"
      prefix=""
      parent="${ur_type}_tool0"
      use_fake_hardware="true"
    >
      <origin xyz="0 0 0" rpy="0 0 0" />
    </xacro:robotiq_gripper>

  </xacro:macro>

</robot>

macro.xacro file

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Include UR5 and Robotiq Gripper Macros -->
  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />

  <!-- Macro for Robot Cell -->
  <xacro:macro name="my_robot_cell" params="
    parent
    *origin
    ur_type
    joint_limits_parameters_file
    kinematics_parameters_file
    physical_parameters_file
    visual_parameters_file
    ">

    <!-- Define the UR5 Robot -->
    <xacro:ur_robot
      name="${ur_type}"
      tf_prefix="${ur_type}_"
      parent="world"
      joint_limits_parameters_file="${joint_limits_parameters_file}"
      kinematics_parameters_file="${kinematics_parameters_file}"
      physical_parameters_file="${physical_parameters_file}"
      visual_parameters_file="${visual_parameters_file}"
    >
      <origin xyz="0 0 0" rpy="0 0 0" />
    </xacro:ur_robot>

    <!-- Attach the Robotiq Gripper to the UR5's tool0 -->
    <xacro:robotiq_gripper
      name="RobotiqGripperHardwareInterface"
      prefix=""
      parent="${ur_type}_tool0"
      use_fake_hardware="true"
    >
      <origin xyz="0 0 0" rpy="0 0 0" />
    </xacro:robotiq_gripper>

  </xacro:macro>

</robot>