UR5e + 2F_85 gripper moveit configuration
Hi everyone,
I am using the default setup of universal robots repo (calibration-devel branch of fmauch) and the ur_robot_driver (melodic branch) of Universal_Robots_ROS_Driver. As I have an attached gripper (Robotiq 2f_85 model) to my robot and I need the robot to do some tasks with Inverse Kinematics, it would be perfect to have a moveit configuration with the merge of both robot and gripper.
I saw that universal robot repo doesn’t provide any configuration like this unfortunately, can you please explain me how to do it properly or can you share an already existing package in case there is one?
Or do you know a way to modify properly the URDF file with a new frame for the gripper? In such a way that the IK works wrt to that frame instead of tool0?
Thank you very much!! I would appreciate a lot your help!!!