Hello,
I want to inspect an object on a rotation stage with a 6-DOF robot arm from staubli (TX90 series).
Since 6-DOF robots are sometimes limited in their reachable space while inspecting objects with endeffector mounted cameras, I want to extend my system with [this](https://www.newport.com/p/URS100BCC) a rotary stage.
The setup should then look something like this:
But instead of using the stage as a separate robot with a seperate movegroup, I want to integrate the stage into the serial chain of my industrial robot, so that the 6-DOF robot results in a 7-DOF robot. The tf_tree should then look something like this:
So the rotation_link is the new reference frame (or world coordinate system) of my system.
My motivation is, that I am able to let MoveIt do the path planning for my entire 7-DOF-system then.
I have already written a [hardware_interface](https://github.com/nilsmelchert/urs100_hardware_interface) for my controller including a joint_state publisher and a position controller (the FollowJointTrajectoryAction client was not implemented yet).
Since the [Staubli-Driver](https://github.com/ros-industrial/staubli_experimental/tree/kinetic-devel/staubli_val3_driver) does not contain any hardware interfaces, that I am able to use with ros_control, I do not know how to combine those two hardware-systems. The staubli robot communication seems pretty isolated to me since it is just communicating with the [simple_message protocol](http://wiki.ros.org/simple_message) after opening a couple of generic nodes (described [here](http://wiki.ros.org/industrial_robot_client/generic_implementation)).
So to summarize what I am asking:
**How can I implement a joint_trajectory_action for those two existing systems?**
Before rewriting the whole ros_industrial_client package, I would really like to hear some advices, if there is a convinient way of realizing my plans.
Thanks a lot for your help.
Nils
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