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The topic you are seeing belongs to an action. And yes, you can definitely control the robot this way, without using moveit.

If you look at your current setup, probably you start somewhere the joint_trajectory_controller. You can use it to control your robot directly in the joint space. There is also an rqt plugin for this controller. YOu could use it for a first try. Or see here for a Tutorial including source code.

Just keep in mind that there is no obstacle avoidance or anything, then. The robot just moves where you ask it to go to.

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No.2 Revision

The topic you are seeing belongs to an action. And yes, you can definitely control the robot this way, without using moveit.

If you look at your current setup, probably you start somewhere the joint_trajectory_controller. You can use it to control your robot directly in the joint space. There is also an rqt plugin for this controller. YOu could use it for a first try. Or see here for a Tutorial including source code.

Just keep in mind that there is no obstacle avoidance or anything, then. The robot just moves where you ask it to go to.