How to attach panda to mobile robot base in gazebo?

[BRNKR]

Hey everyone,

I am trying to attach the panda to my mobile platform. For this I merged panda_arm.urdf.xacro and the xacro of my platform and connected panda_link0 with base_link. Unfortunately, the move_group doesn't work then.

I think I am making a basic mistake here. Can it be that you spawn the mobile platform as well as the panda separately and connect them as separate robots somehow? Unfortunately I can't find a clear explanation for the example in the panda docs either. I think i am not the first person who tries this.

thanks for your help!

[BRNKR]

solved:
use "effort_joint_trajectory_controller" in panda_gripper_controllers.yaml in panda_moveit_config.
dont use planar move plugin. use force_base_move plugin instead on your mecanum wheel platform.