How to input joint angle data to real denso robot

asked 2018-02-04 05:15:34 -0600

MECE gravatar image

Hello all. I want to move real denso robot "VS-068" (not Gazebo), using ros-indigo-denso (vs-060). After I started to launch ros-package "denso_robot_bringup", I was able to control the real arm by rViz.
However, I want to control real robot by inputting time-series data of joint angles as json or csv file.

My question is , which node and topic should I send the joing angle data?
"state_publisher"? "pr2_controller_manager"?

Of course, I read the issue( and I checked the launch files below.

My environment is the below ros-indigo, ubuntu 14.04 LTS


<include file="$(find denso_launch)/launch/denso_vs060_startup_skelton.launch">
    <arg name="controller_argument" value="" />   </include> </launch>


  <arg name="controller_argument" default="" />
  <arg name="controller_ip" default="" />
  <node pkg="denso_controller" type="main" name="realtime_loop"
        gdb-launch-prefix="xterm -e gdb --args"
        args="-x $(find vs060)/model/vs060A1_AV6_NNN_NNN.urdf -s $(arg controller_argument)" output="screen">
    <param name="udp_timeout" value="9000" />
    <!-- <param name="udp_timeout" value="100000" /> -->
    <param name="server_ip" value="$(arg controller_ip)" />
    <param name="rt_period" value="8000000.0" /> <!--8ms-->
    <param name="min_acceptable_rt_loop_frequency" value="100.0" />
    <param name="not_sleep_clock" value="true" />
  <node pkg="pr2_controller_manager" type="spawner" name="pr2_controller_manager"
        args="arm_controller" output="screen" />
  <rosparam file="$(find denso_controller)/denso_controllers.yaml" command="load" />
  <param name="robot_description" textfile="$(find vs060)/model/vs060A1_AV6_NNN_NNN.urdf" />
   <!-- <param name="robot_description" -->
   <!--        textfile="$(find open_industrial_web_interface)/resources/vs060A1_AV6_NNN_NNN.urdf" /> -->
  <arg name="graph_time" default="10" />
  <node pkg="robot_state_publisher" type="state_publisher" name="state_publisher" />
  <group if="false">
    <node pkg="denso_launch" output="screen" name="$(anon hogehoge)"
          type="vs060-test.l" respawn="true"
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