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 theaxclientand 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_publisherI 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!