I'm toying with the idea of a ceiling mounted robot arm, and I'm curious what the best way is to change the link to the world frame to represent this most accurately in RViz? I've read something about a top-level xacro file, so I can make changes to a robot model without changing the underlying URDF in the fanuc package I'm using. Any info on best practices for this, or how to get the robot to appear upside down, with its mount somewhere other than the origin of the world frame would be helpful,
Thanks,
Josh
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