How to send FollowJointTrajectory goal/status to actual DC Motor

asked 2018-08-24 06:34:25 -0600

Robo_Panda gravatar image

I have created a custom robotic arm with two revolute joints that is moving in Rviz and Gazeebo. Now i want to send the joint positions to actual robot. How do i do that. I think I need to make an Action Client for this but I can't find how to make one to read trajectory goals generated by MoveIt. Can somebody help regarding this. I am attaching the output i get on doing rostopic echo

$ rostopic echo /uvbot_v1/arm_controller/follow_joint_trajectory/goal
WARNING: no messages received and simulated time is active.
Is /clock being published?
header: 
  seq: 2
  stamp: 
    secs: 255
    nsecs: 395000000
  frame_id: ''
goal_id: 
  stamp: 
    secs: 255
    nsecs: 395000000
  id: "/move_group-3-255.395000000"
goal: 
  trajectory: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    joint_names: [joint1, joint2]
    points: 
      - 
        positions: [0.49336604685127927, 1.112543918611408]
        velocities: [0.0, 0.0]
        accelerations: [-0.9223423941897395, 0.0]
        effort: []
        time_from_start: 
          secs: 0
          nsecs:         0
      - 
        positions: [0.4845707448789484, 1.111678215207906]
        velocities: [-0.11132963480777286, -0.010957945965573037]
        accelerations: [-0.9852177117397862, -0.0969729440702013]
        effort: []
        time_from_start: 
          secs: 0
          nsecs: 138100194'

I want to send the joint position values via an Arduino to my stepper motor.

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Comments

fvd gravatar imagefvd ( 2018-08-27 00:38:06 -0600 )edit

That question also hasn't been answered.

Robo_Panda gravatar imageRobo_Panda ( 2018-09-03 01:26:45 -0600 )edit

It is bad form to open the same question in multiple places. You should improve your original question instead, update it with what you have tried to solve it, or contribute your own answer.

fvd gravatar imagefvd ( 2018-09-03 02:35:59 -0600 )edit