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how to subscirbe robot current states (joint/end effector position/velocity)

asked 2020-08-03 04:01:22 -0500

Ceciliaxu gravatar image

I am using ROS to control my UR. I am new in ROS. And I wonder how to subscirbe robot states (joint/end effector position/velocity)? I am using "kinematic_model->getGlobalLinkTransform("ee_link")" in my ros to get end effector's state, but results of two times are different. And I wonder if there are easier way to get this. The other question is how to publish a trajectory and control UR in ROS? Should I use moveit?

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answered 2020-08-03 16:18:18 -0500

updated 2020-08-03 16:19:07 -0500

joint_state_publisher can be used to publish states of the joints. See this link for details: (http://wiki.ros.org/joint_state_publi...)

The data being published can then be subscribed by the robot_state_publisher, which then uses this data and the robot description within the urdf file to compute forward kinematics and generate a transform for the entire robot. The following link may also be helpful to you. (https://answers.ros.org/question/2750...)

This is how these two nodes can be launched from within the launch file. <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"> </node>

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Asked: 2020-08-03 04:01:22 -0500

Seen: 95 times

Last updated: Aug 03 '20