I've planned and executed motions with my robot arm without any tools with moveit
Then, I've added a gripper in my URDF file and a controller for the gripper `[position_controllers/JointTrajectoryController]` just like the arm controller.
I've successfully controlled the gripper and the arm by loading those controllers and publishing in their topics directly.
now, I want to control the arm with moveit and the gripper with a simple publisher ( using `rostopic pub /gripper_joint_position_controller/command trajectory_msgs/JointTrajectory`).
Is that possible?
I don't want moveit to have any details about my gripper, so in the future , If I change the tools, I won't change my moveit config.
I think the problem that I use robot_desciption that contain gripper links joints `[joint_gripper_base, joint_gripper_finger_1, joint_gripper_finger_2]` and arm joints `[joint_1,joint_2,joint_3,joint_4]` so when I want to control the arm using moveit , i got this error:
ros.rosconsole_bridge.console_bridge: Found a contact between 'gripper_finger_1' (type 'Robot link') and 'gripper_base' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
ros.rosconsole_bridge.console_bridge: Collision checking is considered complete (collision was found and 0 contacts are stored)
ros.moveit_ros_planning: Start state appears to be in collision with respect to group arm
ros.moveit_ros_planning: Unable to find a valid state nearby the start state (using jiggle fraction of 0.050000 and 100 sampling attempts). Passing the original planning request to the planner.
Debug: Starting goal sampling thread
Debug: Waiting for space information to be set up before the sampling thread can begin computation...
ros.rosconsole_bridge.console_bridge: Planner configur**ation 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
Debug: Beginning sampling thread computation
ros.rosconsole_bridge.console_bridge: Constraint satisfied:: Joint name: 'joint_1', actual value: 0.000013, desired value: 0.000000, tolerance_above: 0.000100, tolerance_below: 0.000100
ros.rosconsole_bridge.console_bridge: Constraint satisfied:: Joint name: 'joint_2', actual value: -0.099921, desired value: -0.100000, tolerance_above: 0.000100, tolerance_below: 0.000100
ros.rosconsole_bridge.console_bridge: Constraint satisfied:: Joint name: 'joint_3', actual value: 0.100007, desired value: 0.100000, tolerance_above: 0.000100, tolerance_below: 0.000100
ros.rosconsole_bridge.console_bridge: Constraint satisfied:: Joint name: 'joint_4', actual value: 0.100010, desired value: 0.100000, tolerance_above: 0.000100, tolerance_below: 0.000100
ros.rosconsole_bridge.console_bridge: Found a contact between 'gripper_finger_1' (type 'Robot link') and 'gripper_base' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
ros.rosconsole_bridge.console_bridge: Collision checking is considered complete (collision was found and 0 contacts are stored)
Debug: RRTConnect: Planner range detected to be 3.746637
Warning: RRTConnect: Skipping invalid start state (invalid state)
at line 253 in /tmp/binarydeb/ros-kinetic-ompl-1.2.3/src/ompl/base/src/Planner.cpp
Debug: RRTConnect: Discarded start state joint_1 = 0
joint_2 = 0
joint_3 = 0
joint_4 = 0
* invalid state
Tag: -1
Error: RRTConnect: Motion planning start tree could not be initialized!
at line 172 in /tmp/binarydeb/ros-kinetic-ompl-1.2.3/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp
Info: No solution found after 0.000459 seconds
Debug: Attempting to stop goal sampling thread...
Debug: Stopped goal sampling thread after 0 sampling attempts
ros.rosconsole_bridge.console_bridge: Unable to solve the planning problem
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