JointTrajectory Syntax
Hi there,
I am trying to control my robot arm with rostopic pub ....
My message type is trajectory_msgs/JointTrajectory
std_msgs/Header header string[] joint_names trajectory_msgs/JointTrajectoryPoint[] points
My question is how do I use this? Here is what I know.
My joint names are elbow and shoulder.
My topic is hekateros_control/joint_command
I have no idea what to put for header or points.
The only useful thing I have found was a bash script that contained this:
rostopic pub /right_arm_controller/command trajectory_msgs/JointTrajectory "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names: ['arm_right_1_joint', 'arm_right_2_joint', 'arm_right_3_joint', 'arm_right_4_joint', 'arm_right_5_joint', 'arm_right_6_joint', 'arm_right_7_joint']
points:
-
positions: [-0.44, 0.61519257357093, -2.33619449019, 0.13493568165539999, 0.0, 0.0, -0.0]
velocities: []
accelerations: []
effort: []
time_from_start:
secs: 2
nsecs: 990099009" --once
I am not sure what this all is and/or has to do with moving the arm.
any light that could be shed on this would be wonderful.
thanks