With MoveIt!, I'm trying to switch between two end effectors for a single arm. The purpose is to have 1 camera end effector and 1 gripper end effector. Is this what the MoveGroup setEndEffector() method was designed to do? Has anybody tried this before?
I know that somebody else in our lab is doing .setEndEffector() when the URDF contains two arms and he wants to switch between arms. Maybe that's the intended functionality.
Would it be possible, as a workaround, to have a completely separate planning group for the second end-effector? Most of the joints would be duplicated.
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