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This depends on your actual setup, but if you follow the most standard approach, you should have controllers specified as described here. You´ll thus probably want to check if controllers are set in the "config/controllers.yaml" file in your robot´s MoveIt! setup package. The standard controllers are commonly using a control_msgs/FollowJointTrajectory Action interface, so multiple topics are used for coordinated execution. One easy way of finding out what topics are actually used is doing a

rosnode info move_group

and inspecting the output, looking for trajectory related publishers. The other way is looking at the controllers.yaml file and figuring out the topic names from there (which requires consideration of namespaces in launch files etc.)