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.

move_group with 2DOF workpiece positioner and 6DOF robot

asked 2017-08-28 12:15:01 -0500

Vlad222
21 ●8 ●11 ●14

Hello all,

I am programming cell with 2DOF workpiece positioner and 6DOF robot in MoveIt! How many move_groups is better to do for synchro motions? One general move_group with 8 joints? Or may be two move_groups: 2DOF and 6DOF? Or may be move_group with two subgroups? Something like that: image description

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-08-29 03:08:13 -0500

v4hn
2950 ●18 ●53 ●57

I believe you mean to ask about "planning groups". The term "move group" is quite overloaded within MoveIt! and move_group usually refers to the ROS node.

You probably want to have two separate planning groups to be able to plan with just one of the two joint sets. To actuate the whole set together, just create another group with the two "basic" groups as subgroups.

edit flag offensive delete link

add a comment

Question Tools

2 followers

Stats

Asked: 2017-08-28 12:15:01 -0500

Seen: 227 times

Last updated: Aug 29 '17

move_group with 2DOF workpiece positioner and 6DOF robot edit

1 Answer

Question Tools

Stats

Related questions

move_group with 2DOF workpiece positioner and 6DOF robot