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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!
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: 2020-09-27 08:11:28 -0500
Seen: 128 times
Last updated: Oct 04 '20
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@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_descriptionand 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.