I have a UR5 with a prismatic base actuated with phidgets stepper motor. I can individually control/ move these using moveIT and libphidgets21 or Gazebo. I edited the URDF and all necessary files to make the prismatic base behave like a 7th DoF in Gazebo simulation. The default IK and motion planning can nicely plan and execute in simulation. The joint state topic now has 7 parameters rather than 6 because of the new addition.
However, I'm having some difficulty doing this in the actual hardware. How do I explain to ROS that the prismatic base is a phidgets stepper? In simulation all I had to do was add appropriate joint/link name and transmission type. This is on Kinnect Ubuntu 16.04. Appreciate your thoughts.
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