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Can I exclude an active joint in MoveIt! groups?

asked 2018-10-18 20:32:45 -0500

longjie0723 gravatar image


I wonder if I can exclude an active joint from kinematic chain in MoveIt! configuration.

I'm trying to use Sawyer, 7DOF arm. The sawyer MoveIt! Tutorial have sawyer_moveit_config which uses all joints and KDL, and it works. But 7DOF IK is a bit twitchy, so I want to try to handle it as 6DOF arm for investigation.

The easiest way is to make a joint as fixed joint in robot_description, but Sawyer setup /robot_description in the controller box so that I cannot change the description.

Is there any way to do so in MoveIt! settings? I tried passive joint, but it seems not update the joint angle, so the robot state gets incorrect.

Thanks in advance.

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I see, thank you! Sawyer SDK provide us joint_trajectory_controller and let us start it explicitly, so I guess it is not so differ from other system. I continue to investigate on it. Thanks.

longjie0723 gravatar image longjie0723  ( 2018-10-21 18:52:21 -0500 )edit

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answered 2018-10-19 01:50:21 -0500

gvdhoorn gravatar image

Afaik this is not possible. Whether this actually works would also depend on how Sawyer handles this internally (ie: it might completely ignore what you do and just take a pose goal and do its own IK).

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Asked: 2018-10-18 20:32:45 -0500

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Last updated: Oct 18 '18