missing link between urdf and rosserial

arm_navigation_tutorials

asked 2012-02-11 09:03:18 -0500

updated 2012-02-11 09:10:20 -0500

Hi, I have an arexx robot arm: http://www.arexx.com/robot_arm/
Following a tutorial, I created an urdf file for my robot arm.
Then I followed the tutorial for the "Planning Description Configuration Wizard". It does the path planning and IK in the simulator nicely.
On the other hand, I followed the rosserial Arduino stuff to make the hardware interface. But I'm missing the link between the two.
My code so far is in : https://github.com/ulrichard/robotloader/tree/master/ros
What is the usual practice to connect from the urdf to the physical robot using rosserial?

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answered 2012-03-07 05:05:28 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

When using a URDF you will need to publish joint states from the hardware(aka that's what needs to come from your rosserial devices. And then a tool like robot_state_publisher can help to make it work with the URDF.

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If you just have open loop there's not need to send data through the rosserial process. Just estimate the movement and publish in a simple node based on the commands.

tfoote ( 2012-03-08 15:27:45 -0500 )edit

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answered 2012-03-08 11:14:19 -0500

ulrichard

34 ●3 ●4 ●7 http://blog.ulrichard.ch/

Did I understand correctly that I have to publish the joint states from the hardware? My robot arm has hobby servos in the joints, so I have only open loop control. Is it required to store the last command in the hardware and publish it as state? Or can I just assume from the ROS side, that the robot is in the position of the last command?

Do I have to subscribe the sensor_msgs/JointState messages matching the urdf in the micro controller directly? Or is it a good idea, to have the python script translate the messages. The python script is a slightly modified version of rosserial. The idea would be to listen for sensor_msgs/JointState messages in a separate thread and translate them to std_msgs/Int16 for the servo commands.

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missing link between urdf and rosserial

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