Hi,
I wonder if I can exclude an active joint from kinematic chain in MoveIt! configuration.
I'm trying to use Sawyer, 7DOF arm. [The sawyer MoveIt! Tutorial](http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial) have sawyer_moveit_config which uses all joints and KDL, and it works. But 7DOF IK is a bit twitchy, so I want to try to handle it as 6DOF arm for investigation.
The easiest way is to make a joint as fixed joint in robot_description, but Sawyer setup /robot_description in the controller box so that I cannot change the description.
Is there any way to do so in MoveIt! settings? I tried passive joint, but it seems not update the joint angle, so the robot state gets incorrect.
Thanks in advance.
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