JointTrajectory Syntax

asked 2018-05-28 10:40:39 -0500

Cullen Dubbs gravatar image

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.

I have looked here and here

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
    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']
    positions: [-0.44, 0.61519257357093, -2.33619449019, 0.13493568165539999, 0.0, 0.0, -0.0]
    velocities: []
    accelerations: []
    effort: []
      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.


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