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Using joint_states for control is not the way things are meant to be done. As the name of the message implies, JointState messages are used to report on current state, not command a desired one.

You'll want to write a FollowJointTrajectory action server for your arm or re-use one, such as ros_control's joint_trajectory_controller. Re-use would be preferred if possible.

A JointTrajectory contains timestamps, positions, velocity and acceleration that, if properly used, should result in synchronised motion of all joints.

Using joint_states for control is not the way things are meant to be done. As the name of the message implies, JointState messages are used to report on current state, not command a desired one.

You'll want to write a FollowJointTrajectory action server for your arm or re-use one, such as ros_control's joint_trajectory_controller. Re-use would be preferred if possible.

A JointTrajectory contains timestamps, positions, velocity and acceleration that, if properly used, should result in synchronised motion of all joints.