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Send joint position commands from Matlab to RViz

asked 2019-10-21 05:33:24 -0600

not_pROS gravatar image

Using Matlab I do some inverse kinematics calculations to get joint values for an arm. I then want to "command" the joints in my RViz model to move to those values.

Being very new to the ROS environment I was hoping that this could be done by publishing the Matlab values to one of the topics that appear when I launch the demo.launch file. However, looking at the different topics and their message types, it, to me, is not obvious which one I should publish to (if this is the right approach).

I can see the following topics:

/attached_collision_object
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/head_mount_kinect/depth_registered/points
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_cost_sources
/move_group/display_grasp_markers
/move_group/display_planned_path
/move_group/fake_controller_joint_states
/move_group/feedback
/move_group/filtered_cloud
/move_group/goal
/move_group/monitored_planning_scene
/move_group/motion_plan_request
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/recognized_object_array
/rosout
/rosout_agg
/rviz/moveit/execute
/rviz/moveit/plan
/rviz/moveit/select_planning_group
/rviz/moveit/stop
/rviz/moveit/update_custom_goal_state
/rviz/moveit/update_custom_start_state
/rviz/moveit/update_goal_state
/rviz/moveit/update_start_state
/statistics
/tf
/tf_static
/trajectory_execution_event

Thanks in advance!

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answered 2019-10-29 10:10:03 -0600

wonwon0 gravatar image

What robot model do you use in RVIZ?

If you provide a link to the code that brings up the robot in RVIZ we could help you.

Meanwhile you can do these things:

Identify what message the controller of the robot in RVIZ subcribes to. Once done, you will be able to identify what message you need to publish in matlab.

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Asked: 2019-10-21 05:33:24 -0600

Seen: 21 times

Last updated: Oct 29