Mapping moveit execution output to robot topic
I am running ros melodic on ubuntu 18.04 lts Currently I have made a connection with a yaskawa gp12 robot arm through the use of the ROS industrial motoman package and I can successfully enable the robot and read joint states. I can manually control the robot from the pendant and the resulting motions can be visualized in rviz through the robot_state_visualization.launch file. I am attempting to now allow moveit to send trajectories to the robot but after hours of scouring the moveit and ros industrial tutorials, I am unable to find out how I can do this. I have tried to follow the moveit config package adaptation to physical hardware found here, but so far I am unclear on a few spots in this tutorial, namely allowing the move_group to send the trajectory goals to my interface. I believe the only thing I am missing is a topic remap because I know my joint goals for this robot are to be send to the topic /joint_path_command in the trajectory_msgs/JointTrajectory format but I am not sure what topic the move_group is currently publishing executions to. I believe these executions work because they run with no issue in the demo.launch for the moveit_config package I created. To boil it down I believe my issues are these: 1. What topic does the move_group publish executions of trajectories to? 2. How do I know what type of messages the move_group is publishing ( trajectory_msgs/JointTrajectory, geometry_msgs, etc)? 3. How do I go about fixing the topic and type of messages the move_group is sending in order to have them properly utilize the controller interface that is set up. 4. Is there a way to remap the default motoman_driver topics to include a specified robot so in the future I may be able to run multiple at once? (ex. remap /joint_states to /gp12/joint_states)
To recap, I can establish connection and throw some basic commands at my robot currently (/robot_enable and /robot_disable service, echo /joint_states topic, etc)
