Naive question perhaps but what exactly does this provide? Somewhere on the wiki/tutorials the claim is made that by adding end effectors you enable additional end-effector-specific (internal) functionality (Steps 4 and 6 [here](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html)).
In the past I have not included the end effectors when using the MoveIt! Setup Assistant and have yet to have any issue with limited functionality (that I know of...). **That said, I guess my question is: what does adding an end effector in MoveIt provide and/or what cool stuff am I missing?**
[edit] link to appropriate documentation
↧