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Did I understand correctly that I have to publish the joint states from the hardware? My robot arm has hobby servos in the joints, so I have only open loop control. Is it required to store the last command in the hardware and publish it as state? Or can I just assume from the ROS side, that the robot is in the position of the last command?

Do I have to subscribe the sensor_msgs/JointState messages matching the urdf in the micro controller directly? Or is it a good idea, to have the python script translate the messages. The python script is a slightly modified version of rosserial. The idea would be to listen for sensor_msgs/JointState messages in a separate thread and translate them to std_msgs/Int16 for the servo commands.