I am working on a 6 DOF arm with an end effector attached to it. I have followed the `moveit tutorials` to configure the arm. But in the `planning group tab` of moveit setup assistant, there are various options to add such as joints, links, chains and sub-groups. But there are no documentation or tutorials on these topics. So , I have some questions to be answered.
1. In the [moveit tutorials](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html) for PR2, they have used joints and links to configure the manipulator. But in this [tutorial](http://apprize.info/programming/ros/5.html) given in 'Mastering ROS for Robotics Programming', they have used kinematic chains instead of joints. So, it is very confusing when to configure the arm as `joints` and when to configure the arm as `kinematic chains`.
2. When to use `sub group` and when to add a `new group`. Does gripper should always be added as a new group?
3. My ultimate aim is to configure the arm to move it from one point to another point having the end effector in a particular orientation. The gripper/end effector is attached to the link_6. So should I need to define the solver for gripper group or not needed for this group.?
Can anyone shed light on these topics ?
↧