[Resolved] Communication between Arduino and model in RVIZ
Hello,
I developed a urdf of a robotic arm
managed to control servos using Arduino + ROS,
Now I do not know how to join the two, that is, how do I change the value of the joint using joint_state_publisher in rviz also change the position of the servos?
ROS: Kinetic; Arduino: Mega; Servo: Micro Servo 9g SG90.
Launch file:
<launch >="" <arg="" name="simulate" default="true"/>
<param name="robot_description" command="cat $(find comau_ns)/conf/comau_ns.urdf" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="rviz" pkg="rviz" type="rviz"/>
</launch>
This is the error that is giving: https://www.youtube.com/watch?v=z2xiv.. .
It is as if the model of the robotic arm to follow the servos and had a static shadow...Help-me!!
When posting a large chunk of code, it is much easier to read if put into code tags, or use a service like pastebin For monitoring, try rqt_graph to start. It will show you which nodes are communicating to other nodes, and on what topics.
It will be a dead giveaway if you see multiple nodes publishing to the same topic, or multiple nodes/topics going to your rviz display.
Thanks for the help, sorry, next time use the tags. I used rqt_graph but I'm not able to solve the problem.
graph obtained in rqt_graph:
/joint_state_publisher ---(/joint_states)-->/robot_state_publisher<--(/joint_states)--/serial_node
Any suggestion?
You have two nodes publishing on the same topic to the same subscriber node. I'll bet one of them is the "zero" position that the simulation keeps jumping between.
thank you, you were right hehehe