How to record joint values during movement ?

Hi guys !

I'm moving my robot with a python script and I would like to record all the joint values during a movement. I suppose there is a topic where I could record the joint values. Do you have an idea ?

Thanks!

Asked by Vaneltin on 2020-09-27 08:11:28 UTC

Comments

@Vaneltin, to record joint values you will need, either to estimate them with robot encoders and joint control code deployed in your robot or with things like joint_state_publisher node, that reads your robot_description and produce the sensor_msgs/JointState msg type. I do not know how is your environment so I cannot do much more with the information you posted.

Asked by Weasfas on 2020-09-29 04:19:30 UTC

Answers

Hi !

I've solved my problem. When I plan a trajectory in MoveIt, it returns a RobotTrajectory with X points. In this RobotTrajectory, I have my joints values for each point of the trajectory.

Asked by Vaneltin on 2020-10-04 06:26:52 UTC