RQT GUI for sending control_msgs
I am currently testing out the PID values of an effort_controllers/JointTrajectoryController
I created using the ros_control
package. I was wondering if there already exists a GUI from which I can send JointTrajectoryController/command
messages to this controller or that I need to create a rosnode/rqt_gui myself. I saw such a GUI being used in this video, but I wasn't able to find it online. I tried using the rqt_publisher
plugin, but it keeps giving me a # error evaluating as "list"
error as I can not get the syntax right.
Hi!
I'm stuck with the same error. Did you managed to solve it? I would like to make one of the joints move following a sinusoidal wave, so it would be nice to have the Message Publisher running.
I passed the points message as a Python list but I cannot find the correct type, I'm getting this on the terminal:
serialization error: field points[] must be of type [trajectory_msgs/JointTrajectoryPoint]
so, the points[] part is a list but it has not the correct format, I gues...
Thank you
Hey @lms95. I was not able to send joint trajectory goals to the joint trajectory controller using the
rqt_publisher
. I think this is caused by the fact that the expression field is meant for simple expressions, not multi-line messages, or we are using the wrong syntax. In the end, however, I found several other methods of sending goal commands to the joint_trajectory_controller. The first two methods I currently use are the ones given by @gvdhoorn, namely theaxclient
and therqt_joint_trajectory_controller
. Additionally, I also wrote a small action client from which I could send goal command to the joint trajectory controller. Since you want to send a sinusoidal wave, I think the last option works best in your case. You can find a guide on how to build a simple action client in the actionlib documentation on how to do this.Lastly, you can of course directly send control commands to a joint_trajectory_controller action service via the terminal by making use of the
rostopic pub
. While doing this you can use the ROS autocomplete feature to create the action server message for you. I, however, do not know a way to send a sinusoidal using this method. In case you really want to use therqt_publisher
I think it is best to open a separate issue in which you state the exact syntax you are currently using.Thanks for the reply! I ended discarding the effort_controller so I get rid of the PID values for the moment and ended publishing via
rostopic pub
. As my plan was to use MoveIt! everything is OK for me now.Thank you again!