Hello everyone!

I'm new at both ROS and Ubuntu. My goal is to use ROS for a robotic arm path planning, so I've been following the ROS basic tutorials and now I think I understand how the communication via Topics and Services works. I also tried following the rosomplinterface tutorials without much success, because I still don't get how to call a path planner as a function, e.g I send some spatial goal position and get a trajectory in response.

Maybe it's because ROS is more complex than I thought. Can anyone help me a bit getting started with this project? By the way, I already made the URDF for the robot I'm working with.

Thanks a lot!