Universal Robots Forum

Adding extra axis control on the UR ROS driver


I’m trying to add a linear slider onto which my UR5e arm is attached in my lab. I am using this package with the UR5e robot arm in Ubuntu 18.04 + ROS melodic along with a ROS driver for the servo motor controlling the position of the slider. How should I go about passing on the 7DoF solution from MoveIt Planner onto the ur_driver since the driver could take only the 6DoF solution?

I have used the latest ur_driver present in the Universal Robots GitHub repo:

Currently we have the arm and the slider working separately through their respective ROS drivers.We have created a simulated environment in which the MoveIt! gave us the 7 DoF solution.I’m not sure how to proceed with these.Any guidance on this would be really helpful!

Please see my answer on the respective Github issue.