Control a manipulator in Moveit! with an unfixed base

asked 2019-06-13 08:15:12 -0500

updated 2019-06-13 09:15:41 -0500

Hello developers!

I want to create a application where I have a manipulator on top of a Husky UGV. My idea is the same as in the video: example.

I want to develop this in Moveit! + ROS + Gazebo, so my questions are:

1 - Is it possible to create this aplication using those softwares?

2 - In Moveit!, what is the fatest IK plugin capable to handle such problem?

Thanks,

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Comments

1

MoveIt is generally used to control manipulator chains (e.g. robot arm). You can attach a robot arm on a mobile robot by combining their URDF descriptions, then use MoveIt to control the arm. For the mobile robot, however, you may need another way to control. It shouldn't be hard though, because you won't need IK for the mobile robot.

hansolo gravatar imagehansolo ( 2019-06-24 04:08:50 -0500 )edit

Thanks! But I already try this. My problem is not the mobile robot, but the speed from IK. Is it possible to use moveit with a unfixed base (changing all the time)? @hansolo

kaike_wesley_reis gravatar imagekaike_wesley_reis ( 2019-06-25 11:28:47 -0500 )edit

Yes, it should be alright as long as you update the TF information. You should publish the latest pose of the arm base to the /tf topic manually. I can't compare the IK packages of MoveIt, but changing the base frame does not affect the IK performance. If it works well with a fixed base, it should work well with a moving base (If the base is not moved by MoveIt).

hansolo gravatar imagehansolo ( 2019-06-25 11:56:52 -0500 )edit