Revision history [back]

Yup.I found a workaround to solve this issue not a complete solution though.Following are the steps. 1.Load robot_description to rosparam server with urdf consisting of 1st end effector. 2.Whenever you want to switch to new end effector replace robot_descritption on rosparam server by reading data from URDF of new end effector with complete robot and also replace robot_description_semantic on rosparam server by new srdf file corrosponding to your new URDF. 3.Now I am doing all this replacing through my cpp node and then using system() function to kill move_group node,robot_description node and rviz_node.(Remember to set respawn=true for all these nodes in your corresponding moveit package launch files). 4.All the killed nodes will respawn now and will load my newly uploaded robot_description and robot_description_semantic from rosparam server and in rviz you will be able to visualize your new end effector.

Since moveit move_group node spawns up moveit_planning_scene service once at the start and it loads robot_description only once at start we need to respawn all the nodes to take up our new robot URDF and its corresponding semantic description.Hope this helps you!

Yup.I found a workaround to solve this issue not a complete solution though.Following are the steps. steps.

1.Load robot_description to rosparam server with urdf consisting of 1st end effector. 2.Whenever you want to switch to new end effector replace robot_descritption on rosparam server by reading data from URDF of new end effector with complete robot and also replace robot_description_semantic on rosparam server by new srdf file corrosponding to your new URDF. 3.Now I am doing all this replacing through my cpp node and then using system() function to kill move_group node,robot_description node and rviz_node.(Remember to set respawn=true for all these nodes in your corresponding moveit package launch files). 4.All the killed nodes will respawn now and will load my newly uploaded robot_description and robot_description_semantic from rosparam server and in rviz you will be able to visualize your new end effector.

Since moveit move_group node spawns up moveit_planning_scene service once at the start and it loads robot_description only once at start we need to respawn all the nodes to take up our new robot URDF and its corresponding semantic description.Hope this helps you!

Yup.I found a workaround to solve this issue not a complete solution though.Following are the steps.

1.Load robot_description to rosparam server with urdf consisting of 1st end effector. effector.

2.Whenever you want to switch to new end effector replace robot_descritption on rosparam server by reading data from URDF of new end effector with complete robot and also replace robot_description_semantic on rosparam server by new srdf file corrosponding to your new URDF. URDF.

3.Now I am doing all this replacing through my cpp node and then using system() function to kill move_group node,robot_description node and rviz_node.(Remember to set respawn=true for all these nodes in your corresponding moveit package launch files). files).

4.All the killed nodes will respawn now and will load my newly uploaded robot_description and robot_description_semantic from rosparam server and in rviz you will be able to visualize your new end effector.

Since moveit move_group node spawns up moveit_planning_scene service once at the start and it loads robot_description only once at start we need to respawn all the nodes to take up our new robot URDF and its corresponding semantic description.Hope this helps you!