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arm_navigation for custom simulated manipulator, publish JointTrajectory

Hi all,

I'm doing motion planning for a custom-built manipulator using ompl. To control the manipulator, I need to provide a text file which include the JointTrajectory message to the low-level controller (offline). I used ompl for a simulated manipulator, and try to generated a text file from JointTrajectory message.

However, while execute launch file planningcomponentsvisualizer.launch , the JointTrajectory and iksolutiondisplay is not published.

There is JointTrajectoryAction to publish trajectorymsgs/JointTrajectory but for non PR2, a jointtrajectoryactioncontroller must be written.

Is it the only way I can get the JointTrajectory from the simulated manipulator? Any example for jointtrajectoryaction_controller with a simulated robot? What will be the different in writing for the real one and writing for a simulated one?

Asked by Tien Thanh on 2012-09-24 11:32:52 UTC

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