Hiya, Most mobile manipulators have a prismatic joint in a similar configuration: PR2, Tiago, Fetch, etc. Just add a controller for it and as long as you have the joint trajectory controller interface for both robots it will work out just fine. Of course you have to add it to the urdf and also to the moveit configuration. Look at any of said robots for examples ;) --- [Visit Topic](https://discourse.ros.org/t/best-way-to-integrate-a-prismatic-joint-with-moveit/2471/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: