# Adding extra axis control on the UR ROS driver

**URL:** https://forum.universal-robots.com/t/adding-extra-axis-control-on-the-ur-ros-driver/16492
**Category:** ROS
**Created:** [September 14, 2021, 6:55pm UTC](https://forum.universal-robots.com/t/adding-extra-axis-control-on-the-ur-ros-driver/16492 "2021-09-14T18:55:54Z")
**Posts on this page:** 2
**Page:** 1

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### Author: ![anon13517523](https://avatars.discourse-cdn.com/v4/letter/a/34f0e0/32.png) [@anon13517523](https://forum.universal-robots.com/u/anon13517523)
#### Post date: [September 14, 2021, 6:55pm UTC](https://forum.universal-robots.com/t/adding-extra-axis-control-on-the-ur-ros-driver/16492/1 "2021-09-14T18:55:54Z")

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Hello,

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:

> **[GitHub - UniversalRobots/Universal\_Robots\_ROS\_Driver: Universal Robots ROS...](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver)**
>
> Universal Robots ROS driver supporting CB3 and e-Series - GitHub - UniversalRobots/Universal\_Robots\_ROS\_Driver: Universal Robots ROS driver supporting CB3 and e-Series

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!

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### Author: ![mauch](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@mauch](https://forum.universal-robots.com/u/mauch)
#### Post date: [September 16, 2021, 8:02am UTC](https://forum.universal-robots.com/t/adding-extra-axis-control-on-the-ur-ros-driver/16492/2 "2021-09-16T08:02:53Z")

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Please see [my answer](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/461#issuecomment-920679227) on the respective Github issue.