Controlling Aubo i5 using Joint velocities

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This may not be what you came here to hear, but: have you asked Aubo about this? It's not entirely clear which repository now contains the official drivers, but they appear to be supporting ROS themselves, so they should be able to answer your question.

@gvdhoorn Their git hub repository is currently inactive. We have posted several issues in that repository. But there is no response. Is there any way that we can create our own node code to perform this action. ie, convert the twist message into pose or jointtrajectory using a small step time (converting linear velocity into position using the step time until the goal is reached) or any other option. Any tip or information would be really helpful.

You could take a look at jog_arm. No guarantees it will work with your robot though.

Their git hub repository is currently inactive.

I believe lg609/aubo_robot is the currently active repository. Last commits from December 2019.

We have posted several issues in that repository. But there is no response.

I see only lg609/aubo_robot#48.

@gvdhoorn i think jog_arm also needs position controller or velocity controller to control the robot. i could see in aubo controller there is only trajectory controller. in the package aubo_controller there is only one excecutable "aubo_joint_trajectory_action". the rosnode info for this gives below

Publications: 
 * /aubo_i5_controller/follow_joint_trajectory/feedback [control_msgs/FollowJointTrajectoryActionFeedback]
 * /aubo_i5_controller/follow_joint_trajectory/result [control_msgs/FollowJointTrajectoryActionResult]
 * /aubo_i5_controller/follow_joint_trajectory/status [actionlib_msgs/GoalStatusArray]
 * /joint_path_command [trajectory_msgs/JointTrajectory]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /aubo_i5_controller/follow_joint_trajectory/cancel [actionlib_msgs/GoalID]
 * /aubo_i5_controller/follow_joint_trajectory/goal [control_msgs/FollowJointTrajectoryActionGoal]
 * /feedback_states [control_msgs/FollowJointTrajectoryFeed

does this mean aubo have no velocity controller ???

We have posted several other queries also in their github repository. lg609/aubo_robot #44 which was posted on oct last year. We are not getting any response on the issues.

I have no experience with Aubo robots, their controllers nor their ROS driver(s).

If those are the only topics you have, it would appear there is only a FollowJointTrajectory action server and a topic which accepts JointTrajectory messages. That does not seem like something that would accept velocities, no.

You may want to take a look at the driver itself. Perhaps the controller does support velocity control, but it's just not exposed by the ROS driver they provide you with.