Revision history [back]

The simplest approach is to write a new node using rospy that uses XMLRPC to talk to your XMLRPC server that is providing the pose for the hand to go to. This node would:

1. Set up a MoveIt 'move_group' for talking to the robot arm.
2. Talk to the XMLRPC server to receive the target pose.
3. Copy that pose into the MoveIt structure to the geometry_msgs.msg.Pose data type.
4. Send that pose to MoveIt using the move_group.

If you are getting the target pose from an XMLRPC client rather than a server, then your node will need to set up an XMLRPC server, and in response to receiving a target pose from an XMLRPC client it would perform the above steps 3 and 4.

If you are completely new to ROS, then I recommend going through the basic ROS tutorials for rospy first so you understand the concepts, and then going through the MoveIt Python tutorial as well so you know how to use the MoveIt API.