How do you command robot joint position in rviz?
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.
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
No not using MoveIt. I would like to parse an URDF file and then send commands to move robot to different positions.