Hardware controller for arm_navigation
Hi, I'm new to ROS and trying to deploy the arm_navigation stack on a custom, non-PR2 arm. I looked at the Configuration Wizard tutorial and the requirements for a URDF description, however what I do not understand is how to develop a ROS low level hardware controller to fit into the arm_navigation stack.
The documentation is a bit confusing but from what I can see the "move_arm" package is responsible for actually moving the arm. How does "move_arm" send commands to the actual hardware? I was examining its services/topics and I can see a "get_robot_state" service which is how "move_arm" gets the state information from the hardware, and that makes sense. But how does it actually send commands to the hardware?
Maybe there is a lack of my understanding and my hardware controller would be replacing "move_arm" in a non-PR2 system, instead of working with it?
Thank you very much
Thank you for the clarification below. Just to confirm; move_arm is an action client, and sends goals to your hardware controller which is an action server, is that right?