Revision history [back]

The controller you are using [is here](https://github.com/pal-robotics/tiago_simulation/blob/indigo-devel/tiago_controller_configuration_gazebo/config/

if allow_partial_joints_goal: True is not set your have to specify all of the joints in de arm_controller.

Like:

$ rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
     secs: 0
     nsecs: 0
  frame_id: ''
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points:
- positions: [0.5, 0, 0, 0, 0, 0, 0]
  time_from_start: {secs: 1, nsecs: 0}"

The controller you are using [is here](https://github.com/pal-robotics/tiago_simulation/blob/indigo-devel/tiago_controller_configuration_gazebo/config/is this.

if allow_partial_joints_goal: True is not set your have to specify all of the joints in de arm_controller.

Like:

$ rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
     secs: 0
     nsecs: 0
  frame_id: ''
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points:
- positions: [0.5, 0, 0, 0, 0, 0, 0]
  time_from_start: {secs: 1, nsecs: 0}"

The controller you are using is this.

if allow_partial_joints_goal: True is not set your have to specify all of the joints in de arm_controller.

Like:

$ rostopic pub -1 /arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
     secs: 0
     nsecs: 0
  frame_id: ''
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points:
- positions: [0.5, 0, 0, 0, 0, 0, 0]
  time_from_start: {secs: 1, nsecs: 0}"

The controller you are using is this.

if allow_partial_joints_goal: True is not set your have to specify all of the joints in de arm_controller.

Like:

$ rostopic pub -1 /arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
     secs: 0
     nsecs: 0
  frame_id: ''
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points:
- positions: [0.5, 0, 0, 0, 0, 0, 0]
  time_from_start: {secs: 1, nsecs: 0}"