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Moveit - fix a link with a virtual joint

asked 2016-07-28 04:50:23 -0500

Soho_ gravatar image


I am working on a robot-arm and I want to fix a link from my robot to the world. I want to use the virtual joint option (and set a fixed joint) on the Moveit Setup wizard but afterwards, when I launch the demo.launch file and visualize my robot, the joint isnt working. It seems it is not taken into account at all,

I set the parent frame as ¨world¨ during the setup. Am I wrong?


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answered 2016-09-07 09:22:07 -0500

bhavyadoshi26 gravatar image

When you were working on the setup assistant, did you give the joint type as fixed?

If you give the joint as fixed, there will not be any visualization.

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Sorry, I am confused as to what you mean by this. If you do not set the virtual joint as fixed, what should it be set at?

I am working with a custom manipulator and can't figure out how to fix it to the gazebo world. I have tried both the <static> gazebo tag, as well as fixing a dummy joint to the world via virtual joint, but no luck!

matthewmarkey gravatar image matthewmarkey  ( 2020-05-18 09:21:15 -0500 )edit

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Asked: 2016-07-28 04:50:23 -0500

Seen: 655 times

Last updated: Sep 07 '16