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Does an arm in Moveit require an end effector

asked 2018-12-12 13:54:32 -0600

reb gravatar image

I am developing a robot arm on Indigo that just has a camera on the end of it. Since the camera is on the last link of the arm and the position of the end of the arm i was wondering if I still need to include an "end effector" in the URDF description? If not what would the description of a end effector that does not do anything look like? What would the controller for such a thing be?

thanks

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answered 2018-12-12 14:43:51 -0600

gvdhoorn gravatar image

Since the camera is on the last link of the arm and the position of the end of the arm i was wondering if I still need to include an "end effector" in the URDF description?

No, it's not needed. It could be nice though.

If you're camera has some sort of "focus (TF) frame" or "tool frame" for which you'd like to plan.

If not what would the description of a end effector that does not do anything look like?

There wouldn't be any description (if you don't have an EEF).

If your camera is your EEF, the description would be a model of your camera -- potentially including an additional toolframe.

What would the controller for such a thing be?

If it doesn't have any controllable joints: no controller.

If it does: something that can control those joints.

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Asked: 2018-12-12 13:54:32 -0600

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Last updated: Dec 12 '18