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How can I publish commands to the UR10/UR5?

asked 2020-08-26 09:01:32 -0500

StewartHemm74 gravatar image

updated 2020-08-26 09:23:24 -0500

Using the arm_controller/command topic, how can I publish valid commands to the UR10/UR5? Is there a list of example commands to send.

I'm trying to follow https://github.com/ros-industrial/uni... setup for controlling a univeral robot in gazebo. My goal is to move the UR arm in simulation using joint position commands published through the terminal window (rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory). I'm able to launch the simulation following the repo's readme file. I'm not interested in using moveit or rviz to send commands.

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I would suggest to add more information to your question: which driver are you using, how are you starting things, what configuration of the driver are you using, what is the type of arm_controller/command (we don't know), what is your goal (ie: pick-and-place, following a moving target, something else), etc, etc.

And link to whatever you refer to.

As-is, your question is too vague, and is hard to answer.

gvdhoorn gravatar image gvdhoorn  ( 2020-08-26 09:16:38 -0500 )edit

I've added more details, attached links, and specified what my goal once in the updated question

StewartHemm74 gravatar image StewartHemm74  ( 2020-08-26 09:24:02 -0500 )edit

Perhaps #q351835 can help here.

gvdhoorn gravatar image gvdhoorn  ( 2020-08-26 11:37:38 -0500 )edit
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Please do not delete questions with answers.

gvdhoorn gravatar image gvdhoorn  ( 2020-09-01 08:35:55 -0500 )edit

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answered 2020-08-26 11:26:02 -0500

StewartHemm74 gravatar image

updated 2020-08-26 11:26:28 -0500

Refer to the folowing post: https://answers.ros.org/question/2610...

Answer deals with providing valid all joint names with the controller that the univeral robot manipulators use.

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Asked: 2020-08-26 09:01:32 -0500

Seen: 733 times

Last updated: Aug 26 '20