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frankaemika / franka_ros

ROS integration for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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How to attach panda to mobile robot base in gazebo? #217

Closed BRNKR closed 2 years ago

BRNKR commented 2 years ago

Hey everyone,

I am trying to attach the panda to my mobile platform. For this I merged panda_arm.urdf.xacro and the xacro of my platform and connected panda_link0 with base_link. Unfortunately, the move_group doesn't work then.

I think I am making a basic mistake here. Can it be that you spawn the mobile platform as well as the panda separately and connect them as separate robots somehow? Unfortunately I can't find a clear explanation for the example in the panda docs either. I think i am not the first person who tries this.

thanks for your help!

BRNKR commented 2 years ago

solved: use "effort_joint_trajectory_controller" in panda_gripper_controllers.yaml in panda_moveit_config. dont use planar move plugin. use force_base_move plugin instead on your mecanum wheel platform.