Hello community!
I am working on a research project and have been tasked with using the OpenMANIPULATOR-X as a basis for a higher DoF robot by adding in Dynamixels and links. We plan to do custom IK and trajectory planning with MoveIt. My question is, how feasible is this endeavor, and what all files will need to be modified/rewritten in order to make this work? At the least I’ve identified the following files which will need to be modified in the ROS workspace (to use with MoveIt)
/src/open_manipulator_controls/open_manipulator_hw/config/hardware.yaml
/src/open_manipulator_controls/open_manipulator_hw/launch/open_manipulator_gazebo.launch
/src/open_manipulator_controls/open_manipulator_controllers/config/joint_trajectory_controller.yaml
/src/open_manipulator_controls/open_manipulator_controllers/config joint_trajectory_controller_gazebo.yaml
/src/open_manipulator_controls/open_manipulator_controllers/config gravity_compensation_controller.yaml
/src/open_manipulator_description/meshes/*
/src/open_manipulator_description/rviz/open_manipulator.rviz
/src/open_manipulator_description/urdf/open_manipulator.gazebo.xacro
/src/open_manipulator_description/urdf/open_manipulator.transmission.xacro
/src/open_manipulator_descroption/urdf/open_manipulator.urdf.xacro
Any further advice or resources on this would be appreciated.
-Cameron