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Okay, I think I found an answer myself now. When attaching the object, I only tried it without the real robot till now. There no collision at all was recognized between the attached object and the surrounding as stated above.

Since today I can test it with the real robot and there it seems to work perfectly. Without the real robot the ee_link was not published sufficiently and therefore the attachment did not work properly. At least this is my guess.

So in the end, the piece of code I posted above and took it from the tutorial and it works perfectly fine.

Okay, I think I found an answer myself now. When attaching the object, I only tried it without the real robot till robot, until now. There There, no collision at all was recognized between the attached object and the surrounding as stated above.

Since today I can test it with the real robot and there it seems to work perfectly. Without the real robot the ee_link was not published sufficiently and therefore the attachment did not work properly. At least this is my guess.

So in the end, the piece of code I posted above and which I took it from the tutorial and it works perfectly fine.