Vrep to generate trajectory
Hi all, i'm new in ros and i'm trying to move my simulated UR10 in gazebo. What i'm doing is setting up the same scene in Vrep (now CoppeliaSim), where also i generate a set of points of my target trajectory, composed by 6*300=1800 points(each joint has 300 points to follow). I also have a jointTrajectoryController and the related actions. Is there a way to move my simulated robot using this points? I suppose Vrep has to publish some message to the /follow_joint_trajectory/goal topic but i have some problem understanding how to compose the message to publish. Tell me if i'm wrong, but i suppose i can't just copy and paste this 1800 points in the "Points" field of the action message. I also tried something really terrible using 6 differents JointPositionController, one for each joint, and sending them alternately the point to reach through the /command topic, something like this pseudocode:
for i=1,1800,1 do
publish(controller[i%6 +1],points[i])
end
I can't use only the last point, i want to follow the exact same trajectory vrep generated.