Revision history [back]

Nevermind, I figured out that the move_group gets the controller information from "controllers.yaml" and sends movements to the trajectory action node which essentially forwards movement to the robot interface automatically. Dumb mistake on my part. For future reference, when using the motoman driver, just copy the planning execution file from the sia20d and adjust it for whatever robot you're using instead. Or just adjust the demo.launch to not launch a sim and instead call your robot interface.