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pythonros

i was trying to add gripper to a existing moveit package

I was trying to perform a pick and place operation with techman robot. https://github.com/TechmanRobotInc/tm.... The techman robot for ros melodic version does not provide gripper and camera. So how can I add a sensor and grippesr to it.

Sorry, I am very new to ros and moveit

Solution

  • Because you want to add the gripper and robot together on the MoveIt, I think the easiest way is using MoveIt Setup Assistant to do it.

    http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html

    Inside Techman Robot ROS, it provided robot model(tm5-700, tm5-900 and tm12 1300 type), so you can get the robot model. The only thing is you need to do is add your camera model and gripper model.

    By the way, MoveIt is a planning the robot trajectory, it doesn't matter about the other sensors.