Subscribing action server message
Hey,
I am trying to simulate the Kinova Mico arm in a Gazebo simulation. I have everything working, executing paths calculated in Moveit. The only thing I have yet to simulate is the gripper. I am using the wpi_jaco package to communicate with the hardware arm, that we also have here. It uses an action server to actuate the fingers. It sends a control_msgs::GripperCommandActionGoal message to the goal topic.
What I want is to also receive the message and then convert the wanted position to an angle which I can publish to the controller topic. I wrote a normal subscriber to the topic but this isn't working. When building I get this error.
/opt/ros/indigo/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::MD5Sum<M>::value(const M&) [with M = double]’: /opt/ros/indigo/include/ros/message_traits.h:255:104: required from ‘const char* ros::message_traits::md5sum(const M&) [with M = double]’ /opt/ros/indigo/include/ros/publisher.h:112:7: required from ‘void ros::Publisher::publish(const M&) const [with M = double]’ /home/laurens/catkin_ws/src/mico_sim/mico_arm_gazebo/src/gazebo_rviz.cpp:95:35: required from here /opt/ros/indigo/include/ros/message_traits.h:126:34: error: request for member ‘__getMD5Sum’ in ‘m’, which is of non-class type ‘const double’
return m.__getMD5Sum().c_str();
How can I make it work? It is kind of urgent, so if someone can put me on the right track, I would be thankful.
