Hello,
I've successfully planned and executed various motions using our UR5 robot arm without any tools. Now I want to attach a custom-made gripper to the arm, but I don't know what to do to make ROS/MoveIt! "aware" of the gripper, such that the gripper (and any objects in it) do not collide with anything, and to be able to grab items with the gripper.
I have read many tutorials and examples, but they all seem to cover only a specific part and I still haven't been able to get this to work.
Can anyone please explain the necessary steps? Such as how to define a model of the gripper, how to set the state (open/closed position) of the gripper, how to approach the object I want to grasp.
I have the feeling this would already be explained somewhere, but I couldn't find a document explaining all these steps. If no such document is available, maybe an overview of the necessary steps with links to the appropriate documents/tutorials would also be helpful.
NB: I'm using ROS Indigo and preferably writing in Python (C++ is possible if necessary).
Regards,
Wouter
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