Hello,

I have created a custom controller based on effortJointInterface with position inputs. I have tested publishing a constant joint value for one joint and so far works well in gazebo. My next step is to use a LSPB trajectory (I already have a c++ file that creates the trajectory with position, velocity and accelerations) to command my robot.

I have been looking into jointtrajectorycontroller package (http://wiki.ros.org/joint_trajectory_controller) information but I dont understand how can I use my own cpp to command the robot. I see that this package uses trajectory_msgs/JointTrajectory.msg to command the points to the robot, but as I have never used this message type and package, I dont know how to start.

Can someone give me where I can find information about trajectory creation in ros? There is a lot of information about this and I'm a bit overwhelmed. My goal is to somehow combine this LSPB trajectory generator file with

if helps, this is my controller. yaml:

    rrbot:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  joint1_position_controller:
    type: my_controller/MyPositionController
    joint: joint1
    kp: 500
    kd: 30
    ki: 0.05

  joint2_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint2
    pid: {p: 100.0, i: 0.01, d: 10.0}

Thanks in advance!