MoveIt! Grasps pipeline for other robotic arms

[himanshuk32]

The existing moveit_grasps is stable and working properly with panda arm. But, there's no straightforward way to use the same with other robotic arms like Universal Robot or ABB robots.
Is there any idea on how to do that? It would be of great help if someone could post a documentation or reference links for the same.

Thank you.

[LeDSantos]

Hello, I don't know the robots that you indicated but I just got Tiago robot configured.
I had to:

• Create load_tiago.launch, copy of load_panda.launch with the modification of calling "$(find tiago_moveit_config)/launch/planning_context.launch" and the and_effector arg.
• Same modification in rviz.launch, plus change panda_link0 to base_link
• Create tiago_grasp_data.yaml, copy of the panda version but with Tiago characteristics. I used grasp_poses_visualizer_demo to help adjusting the parameters.
• Change the launches of the package to use the new files and use thee ee_group_name and planning_group_name of my robot.
• Change starting_joint_values and joint_names at grasp_pipeline_demo.cpp

Maybe there are some details that I missed, but the tutorials are working.