Connecting Action server, Moveit, and a 5 DOF robot arm

asked 2020-05-29 05:22:03 -0500

matthewmarkey gravatar image

updated 2020-05-29 05:24:03 -0500

I have modified, modeled, and physically built a 5DOF arm with the help of this GitHub repository:

Jmichieils

I have successfully executed Moveit Planning and Gazebo simulation.

I now would like to substitute my Gazebo model for the real thing.

My Rosserial libraries are setup on my Ubuntu 16.04 Arduino IDE, and I am running Kinetic.

I am really just struggling to find a simple example of what my Arduino Code should look like.

  1. Can this be done with one Arduino sketch?

  2. What changes do I need to make to my launch files to not launch in gazebo but only the real robot?

(All of the required files are in the GitHub: arm_control demo.launch...)

Thanks

edit retag flag offensive close merge delete