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proper guide to adding a gripper to my robot in rviz2 and moveit2

asked 2021-08-04 07:39:38 -0600

takti gravatar image

im currently running ros2 on foxy and using this driver for the UR10e which works perfectly fine, but now im trying to add a gripper to this setup to properly control everything with moveit2. I have assembled my own action server for the gripper. The gripper i have is the Robotiq Hand-E.

Unfortunately I dont know where to start with adding the gripper to my virtual setup. Do I have to rewrite all urdf and srdf files?

I would greatly appreciate it if someone could guide me through the process

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answered 2021-09-22 05:29:36 -0600

Ranjit Kathiriya gravatar image

updated 2021-09-22 05:31:23 -0600

Hello @takti,

You just have to add in your URDF including your link, join. Then you have to upload that urdf file into your moveit and configure your gripper into the moveit.

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Asked: 2021-08-04 07:39:38 -0600

Seen: 133 times

Last updated: Sep 22