[ros-users] [Discourse.ros.org] [General] Best way to integrate a prismatic joint with MoveIt!

Bence Magyar ros.discourse at gmail.com
Sat Aug 19 14:54:10 UTC 2017



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 ;)





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