I’m currently building a “service robot” based on a 6 DOF arm and a mecanum base. The hardware’s pretty much done as well as the robot arm’s MoveIt! configuration: https://github.com/grassjelly/ros_braccio_moveit .
Now I want to add a vertical linear actuator ( prismatic joint ) so the arm’s height can be adjusted. Just wondering what would be the best approach in doing this?
Should I add the prismatic joint in the MoveIt configuration as part of the arm group? Does the default kinematics solver support this?
Or create a separate controller for the linear actuator? This probably means I need to call an actionlib to move the linear actuator first then call the MoveIt API when I want to pick up an object?
Thanks in advance! Cheers!