Ask Your Question
0

Moving UR_Gazebo through test_move.py

asked 2018-04-19 03:53:33 -0500

prajval10 gravatar image

updated 2018-04-19 05:58:38 -0500

I am not able to move the UR simulation with ur_gazebo using action client server like test_move.py. MoveIt with gazebo however works fine.

Note: Using ur_gazebo on Ubuntu 14.04 with ROS Indigo and gazebo 2.x.

edit retag flag offensive close merge delete

Comments

I'm confused: you're asking about ur_gazebo, but then state that you're using ur_modern_driver. The driver is not used with Gazebo. Please clarify and carefully describe your setup.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-19 05:16:09 -0500 )edit

So is there a way of sending joint commands to ur_gazebo directly using a python script? I don't want to use MoveIt to control the robot in ur_gazebo@gvdhoorn

prajval10 gravatar imageprajval10 ( 2018-04-19 05:55:29 -0500 )edit

1 Answer

Sort by » oldest newest most voted
0

answered 2018-04-19 06:03:02 -0500

gvdhoorn gravatar image

The setup in ur_gazebo uses gazebo_ros_control to load a joint_trajectory_controller. This exposes a standard FollowJointTrajectory action server, just like any of the available drivers.

test_move.py can make use of that, provided it can find the action topics.

edit flag offensive delete link more

Comments

Perfect, all I had to do was append "arm_controller/" to the subscriber.

prajval10 gravatar imageprajval10 ( 2018-04-19 06:18:11 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2018-04-19 03:53:33 -0500

Seen: 96 times

Last updated: Apr 19 '18