Hello everyone,

I'm fairly new to ROS and I need some help figuring some things out. First, I have build my robot and I can control the joints with the JointPositionController so far, I can set up start and end state in moveit and have it plan a trajectory, but what I want to do now is the following:

1.define a tool center point (tcp)

2.make tcp move on a predefined trajectory

(3. send a signal to all joints to stop with an adjustable brake torque)

(4. simulate in gazebo)

1. & 2. are my next steps, and frankly I have no idea how to begin and I can't find any tutorial. Do you guys know which package I could use and do you have any tutorials in mind that could help me?

I'm using ROS kinetic with gazebo7 on Ubuntu 16.04 LTS

Thanks in advance!