MoveIt! 2 arms joint

asked 2018-10-11 16:39:07 -0500

jdeleon gravatar image

Hi all! I'm trying to create with MoveIt! a modular robotic arm but that each module can be controlled.

Each module should be an arm with 7DOF. So, for this case we will have that the end of the first arm, coincide with the first joint of the second arm.

In the next image, you can see the separation of the 2 modules.

the 2 arms

The problem is that when I try to move the arms in RViz, I can move the first one, but none the second one. In this video you can see the problem.

Also, here is the repo of the project.

To launch it you only have to write in the terminal:

roslaunch fotokite_two_modules_moveit demo.launch


If the problem because of the second arm does not have a virtual joint to a frame of the first robot? Also I have set a virtual joint from the first link of the second robot to the world in floating type. But the problem persists.

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