[ros-users] [Discourse.ros.org] [ROS-Industrial] Integration of 6-axis manipulator and 2-axis positioner (external axes)

[gavanderhoorn via Discourse.ros.org]

@tdl-ua: please see [Adamsua-lab/motoman_ma2010_d500_waam_moveit_config#1](https://github.com/Adamsua-lab/motoman_ma2010_d500_waam_moveit_config/pull/1), which is an example of how your setup could be approximated using the `industrial_robot_client`.

It's not exactly how it would be with `motoman_driver`, but close enough to give you an idea.

Note: I've also changed your MoveIt configuration to use chains for the two groups and used `trac_ik` instead of KDL (with `Distance` solve type).

If/when you have your real hw, we can revisit this.

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Note: this only gets you to the *actual* problem / challenge: planning for the combined scene (or at least: with kinematics involved).





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