How do you command robot joint position in rviz?

asked 2019-10-20 21:51:00 -0600

RosViz gravatar image

What I have so far is 3DOF elbow robot that is setup to use joint state and robot state publishers. I can move robot around using GUI from robot state publisher. However, I would like to write a Python script that would move the arm to a specific point (i have worked out IK) and visualize in rviz. Can you please help? Let me know if you need any more information.

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Do you intend to use MoveIt! for your robot? With MoveIt, you can not only solve IKs, but plan and execute complex trajectories. If yes, this might be an useful link: ROS-Industrial training. There are default IK solvers used by MoveIt, but you can setup your IK solver to work with MoveIt as well: KinematicBase

ipa-hsd gravatar imageipa-hsd ( 2019-10-21 02:55:13 -0600 )edit

No not using MoveIt. I would like to parse an URDF file and then send commands to move robot to different positions.

RosViz gravatar imageRosViz ( 2019-10-21 12:13:33 -0600 )edit