MoveIt 2 controllers
Hi, I'm trying to use MoveIt 2's Low Level Controller feature to interface with a physical robotic arm (Staubli TX2-90L) but I'm quite confused. I used the Moveit setup assistant and have a ros2_controllers.yaml file (indentation is wrong):
controller_manager:
ros__parameters:
update_rate: 100 # Hz
staubli_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
staubli_arm_controller:
ros__parameters:
joints:
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
command_interfaces:
- position
state_interfaces:
- position
- velocity
This "controller" is apparently being started and publishes to the correct topics but that's about as far as I get. I'd imagine i'd need to implement some custom node that listens to these topics but this isn't apparent to me. Furthermore, I have no idea what the MoveIt Controller Manager is doing in all this. Any help regarding how these controllers work would be very much appreciated.