How to add gripper to robot arm and plan according to the end effector on Moveit

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Hello @reuge,

Being new to Moveit, I am finding trouble to attach the gripper to the robot to be able to control it and plan accordingly.

What I would suggest is to first create xacro /urdf and join the gripper init. Have a look at urdf tutorials Have a look at the tutorials for creating and joining the link.

Looking at the robot's URDF, there's a part that mentions "elfin_dummy_gripper", I am assuming this the part I should edit? Any help is appreciated.

Yes, You are true you need to create and join the link with the end-effector.

Being new to Moveit, I am finding trouble to attach the gripper to the robot to be able to control it and plan accordingly.

https://ros-planning.github.io/moveit...

You can have an option in move it while building the package in Add planning group.

https://ros-planning.github.io/moveit...

feel free to drop a comment if any questions.