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How to control Kuka robot with Moveit?

asked 2021-01-12 04:07:30 -0600

brahpra gravatar image

I am trying to control KUKA KR10 using MOVEIT. I am now able to control the joints using rqt_joint_trajectory controller. Now I want to send the robot in random position, using Rviz and moveit, and have Gazebo simulation of the robot follow the same path too. I have a controller named arm_position_controller in namespace kuka_kr10. I put them in this namespace, because I could not simulate the robot in Gazebo without it.

However, I cannot control the Robot using rviz only. My guess is, this is because rviz is publishing joint_state to namespace "kr10/joint_state" while the robot waits for messages on "joint_state". I do not know, if this assumption is correct, because when i manually change the joint state using rqt_joint_trajectory_controller, the change is reflected on rviz(however not in gazebo). Now my idea was to simply remap "kr10/joint_state" to "joint_state" and hope it works. Apparently it is not that easy. Does anyone have an idea, how do I go on about doing this?

I found this thread on how to achieve it using EKI but I am using RSI and the second answer mentions robtot_interface_streaming.launch which is not to be found in KUKA Industrial Package. Is there any easy way to do this?

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answered 2021-01-13 01:57:06 -0600

brahpra gravatar image

I managed to solve it following this thread. robot_interface_streaming.launch can be found here. This Discussion helped me troubleshoot the fact, that I was unable to control my robot using rqt_joint_trajectory_controller. If anyone encounters the same problem, feel free to leave a comment. I guess, I kinda understand what was going on now.

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Asked: 2021-01-12 04:07:30 -0600

Seen: 30 times

Last updated: Jan 13