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Moving UR_Gazebo through test_move.py

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

prajval10
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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.

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

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

gvdhoorn
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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.

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

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

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

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Last updated: Apr 19 '18

Moving UR_Gazebo through test_move.py edit

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