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Can we use the interactive marker in Moveit by some external button and move the arm joint?

asked 2018-08-31 15:01:31 -0500

Katta Nigam
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Normally We use the interactive marker to control the arm by dragging it with a mouse pointer in RVIZ screen. But what I want is that can we command the movement of the interactive marker in Moveit by publishing the x, y, z, w values to the interactive marker and move the arm(i.e can we similarly do the movement like dragging it with mouse pointer on RVIZ screen).

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answered 2018-09-03 10:34:59 -0500

AndyZe

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Yep, that capability already exists: Youtube

Instructions: http://docs.ros.org/indigo/api/moveit...

A downside to doing it like this is sudden jumps or reconfgurations in the joints. You can see that at ~23s in the video.

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Thank you @AndyZe. Yes, I saw that joystick controlling method but, if we want to control it manually i.e Like I have a publisher which publishes x y z w values from a keyboard. So how can I connect the interactive marker node to my topic and which kind of message data should I send????