The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
I have been working through this recently. I am not working with the panda robot, so I can't point you to code for the panda. However, I have been using the ABB 120 repository as an example. There are a lot of layers to work through, but all the information is there.
To do my best to answer your questions directly:
1) You will likely need the joint_state_controller/JointStateController and the position_controllers/JointTrajectoryController, see the above ABB repo for examples.
2) As a starting point, you don't really need to be aware of specific topics, you can use the MoveGroupInterface (which I see you are using in your code).
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
