Ask Your Question

Revision history [back]

/ur_driver/jointspeed is not a publication, but a subscription.

You're supposed to send it joint velocities, they will not be published there.

/ur_driver/jointspeed is not a publication, but a subscription.

You're supposed to send it joint velocities, they will not be published there.


Edit:

Maybe there are some mistakes in my expression ,I use rostopic echo just want to see whether it has changed after publishing.I attempted to see its message details by using TAB key.I found that it is similar to /Follow_Joint_Trajectory.That make me confused,why I need to set joint position again

The fact that it uses a JointTrajectory msg doesn't mean that you have to set position. See RosWrapper::speedInterface(..). It only uses the velocity field.

This is also described in the readme (emphasis mine):

joint_speed : Takes messages of type trajectory_msgs/JointTrajectory. Parses the first JointTracetoryPoint and sends the specified joint speeds and accelerations to the robot.