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Can I use a mobile manipulator in rviz (moveit)?

asked 2019-10-25 05:05:38 -0500

dude gravatar image

Hi, I would like to use a mobile manipulator (mobile robot with an arm on it) in rviz. I’m trying to set up kuka youbot urdf model in “Moveit! setup assistant”, but only what I get is mobile robot without manipulator or just fixed manipulator.

I will be glad to any advice!

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answered 2019-10-25 15:37:24 -0500

pmuthu2s gravatar image

You need to understand how moveit setup assistant works! Things like how to import the urdf model and stuff.

Moveit setup tutorial

Also you can find the youbot urdf file here in this link

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I have found URDF file of kuka youbot and trying to set it up. I can't uderstand how exactly to configure virtual planar joint in Moveit setup assistant. I need to choose a "Child Link" and "Parent frame name". As option in "child Link" I have base_footprint and base_link.

When I run Rviz, the shell says that one of joints have more than 1 dof and that i dosent have a parenf link my "base_plunning_group".

In Rviz GUI i can only move the youbot base but i can't control it manipulator. Path planning is working but as i said without manipulator.

dude gravatar image dude  ( 2019-10-29 07:13:06 -0500 )edit

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Asked: 2019-10-25 05:03:47 -0500

Seen: 663 times

Last updated: Oct 25 '19