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I typically use XACRO to combine arms and grippers.

for example:

<robot name="myrobot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">

<!-- myrobot urdf file -->
<xacro:include filename="$(find mypackage)/urdf/myrobotarm_no_end_effectors.urdf"/>

<!-- add any joints/links required to connect the two -->

<xacro:include filename="$(find open_hand_controller)/urdf/an_end_effector.urdf.xacro" />

I usually write the end effector as an xacro macro so that I can attach it to either a right or left arm or launch it standalone to trouble shoot the URDF file if need be.

Hope that helps.

I typically use XACRO to combine arms and grippers.

for example:

<robot name="myrobot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">

<!-- myrobot urdf file -->
<xacro:include filename="$(find mypackage)/urdf/myrobotarm_no_end_effectors.urdf"/>

<!-- add any joints/links required to connect the two -->

<xacro:include filename="$(find open_hand_controller)/urdf/an_end_effector.urdf.xacro" mypackage)/urdf/an_end_effector.urdf.xacro" />

I usually write the end effector as an xacro macro so that I can attach it to either a right or left arm or launch it standalone to trouble shoot the URDF file if need be.

Hope that helps.

I typically use XACRO to combine arms and grippers.

for example:

<robot name="myrobot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">

<!-- myrobot urdf file -->
<xacro:include filename="$(find mypackage)/urdf/myrobotarm_no_end_effectors.urdf"/>

<!-- add any joints/links required to connect the two -->

<xacro:include filename="$(find mypackage)/urdf/an_end_effector.urdf.xacro" />

</robot>

I usually write the end effector as an xacro macro so that I can attach it to either a right or left arm or launch it standalone to trouble shoot the URDF file if need be.

Hope that helps.