How to add gripper to robot arm and plan according to the end effector on Moveit

Question

Hello! I am simulating for a university project, the Elfin 5 robot arm which package can be found here along with a gripper which package is found here. Being new to Moveit, I am finding trouble to attach the gripper to the robot to be able to control it and plan accordingly.

Looking at the robot's URDF, there's a part that mentions "elfin_dummy_gripper", I am assuming this the part I should edit? Any help is appreciated.

Thanks!

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Originally posted by reuge on ROS Answers with karma: 1 on 2023-01-22

Post score: 0

Answer 1

Hello @reuge,

Being new to Moveit, I am finding trouble to attach the gripper to the robot to be able to control it and plan accordingly.

What I would suggest is to first create xacro /urdf and join the gripper init. Have a look at urdf tutorials Have a look at the tutorials for creating and joining the link.

Looking at the robot's URDF, there's a part that mentions "elfin_dummy_gripper", I am assuming this the part I should edit? Any help is appreciated.

Yes, You are true you need to create and join the link with the end-effector.

Being new to Moveit, I am finding trouble to attach the gripper to the robot to be able to control it and plan accordingly.

https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html

You can have an option in move it while building the package in Add planning group.

https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html#step-4-add-planning-groups

feel free to drop a comment if any questions.

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Originally posted by Ranjit Kathiriya with karma: 1622 on 2023-01-24

This answer was ACCEPTED on the original site

Post score: 0