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First, I recommend that you try to get your robot path planning working using demo.launch (this file is generate using the moveit setup assistant). This is a self-contained moveit launch which should help you debug the planner and IK problems.

Once this is working, you will need to create ROS nodes that connect to the real robot. There are multiple ways to achieve this. At a conceptual level you need a way to read the robot state and a way to send trajectories. One option is to utilize ros control - I don't have much experience with this. ROS-Industrial robots publish joint states via ROS topics and execute trajectories using the joint_trajectory_action in the industrial_robot_client). The template you are using assumes a ROS-Industrial approach.