Moveit for Hexapod Robot
Hello,
I'm using MoveIt to move a hexapod robot. My question, is what should the end effector be in the case of a hexapod? I know that each leg has an end-effector, and I already can control each leg individually, but how can I control the robot as a whole? But this I mean move the robot up, down, rotate, etc.
Another question, Is possible to generate gaits for the robot movment using move it? If so, how can I design this?
URDF Image: https://drive.google.com/open?id=0Bwh...
MoveIt Setup: https://drive.google.com/file/d/0BwhV...
Note: it's bad form to ask two questions in a single post, but for your second question: I don't believe MoveIt was written with gait generation in mind. It can probably be used (sort-of as a library) to do something like that, but it doesn't have anything out-of-the-box.