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Publish Joint position step by step

asked 2017-01-22 11:27:16 -0600

nikkk gravatar image

Greetings, I need an advice about how to perform my robot simulation. I have a node that subscribe a topic and use the data subscribed to create a vector with all the angle that a joint has to reach through the final joint angle. I have three different joints, which is the best message to publish that contains the three joint angles? How can I publish them step by step. How can I make the second node that subscribe these joint angles?

Thank you

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answered 2017-01-25 13:46:09 -0600

Mark Rose gravatar image

You need to create a URDF description of your robot, with links and joints for any moving or fixed relationships between the various reference frames. Then you should launch robot_state_publisher and joint_state_publisher to supply frame transformations as requested. In particular, you should configure joint_state_publisher to listen for the topics on which you will publish the joint states.

Presumably you'll either write a custom node or use a package like moveit to calculate and publish the required joint angles.

To actually perform the joint movements, you'll need a custom node that listens for the joint states and talks to your hardware, unless there is an appropriate package already available.

You should probably read these:

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answered 2017-01-23 02:59:03 -0600

rbbg gravatar image

I'm not quite sure I understand the question, but it seems to me you are looking for the sensor_msgs/JointState message? For your other questions, I'd suggest the ROS tutorials. Publishers and subscribers are covered there.

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Thank you but maybe i didn't explain well. I already use joint state message but what I need is to publish to the node that use joint state message to the robot, a correct message that include the joint angle for each of the three joints. And these two nodes have to both subscribe and publish.

nikkk gravatar image nikkk  ( 2017-01-23 03:43:58 -0600 )edit

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Asked: 2017-01-22 11:27:16 -0600

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Last updated: Jan 25 '17