How to create a controller (ros-control) for dynamixel-workbench joint trajectory and MoveIt

asked 2021-07-22 02:48:26 -0600

Gsisinna gravatar image

Hello everyone, i am trying to interface my robot implemented by a series of dynamixel motors. I'm using ROS Noetic.

I have downloaded and used up to now the dynamixel_workbench_controllers package which includes a launch for the dynamixel chain controller. Thanks to this controller included in the package I have a low level control over the position of the motors, since the topic:

/dynamixel_workbench/joint_trajectory

is automatically created. But this is not a controller like all the others in ros-control, so I don't have a whole series of topics that are usually found with JointTrajectoryControllers (goals, status, feedback etc ...). Now, once I have created my URDF model for moveit, and created the package with the setup assistant, I am at a point where I don't know how to interface moveit to the physical robot that uses the dynamixel_workbench controller.

Do I need to create another ros-control meta-controller, connected with the workbench and to interface it with moveit? Or do I directly post trajectory messages from moveit to dynamixel_workbench / joint_trajectory? In this last topic I have always sent messages of the type JointTrajectory () (for direct kinematics).

Should I create a follow_joint_trajectory action server or what? I cannot understand this from the tutorials

Thanks.

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Comments

I'm running into the same issue at the moment. From what I understand we might need to implement an action server.

Alex-SSoM gravatar image Alex-SSoM  ( 2021-10-01 10:55:05 -0600 )edit