ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

We have developed a solution for this issue, you can check it here: https://github.com/ros-planning/moveit/issues/3381. The developed class adds the automatic tool changing capability in MoveIt. The class allows to detach and attach tools to the robot’s wrists, considers collisions for the tools, and provides a function to transform the planned trajectories from the robot’s wrist frame to the actuation frame of the current end effector.

The performance of this class on an SDA10F Yaskawa robot can be seen in this video: https://www.youtube.com/watch?v=DJXKWWmBquM&t=1s.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2