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Hello, I think that best way to integrate is to use robot_mechanism_controllers package. You can check it here. I used Joint Trajectory Action Controller with my custom robotic arm(integrated with gazebo and warehouse viewer ) and it worked great. But don't forget you should edit this controller's config file.

Hello, I think that best way to integrate is to use robot_mechanism_controllers package. You can check it here. I used Joint Trajectory Action Controller with my custom robotic arm(integrated with gazebo and warehouse viewer ) and it worked great. But don't forget you should edit this controller's config file. I did not change the code, i edited the configuration file of Joint Trajectory Action Controller. Yes i used it in simulation env. HiDOF is implementing a real time controller interface for custom manipulators. Check it here and here . This controller is based on pr2's real time controller.