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Hi,
Recently I am learning about moveit package . And I am created a move-it config package. I want to move my robotic arm (real hardware) to specified point in space (inverse kinamatics calculation). How can I program it.
There do appear to be a handful of tutorials that might be able to help you on the MoveIt! wiki page. The high level API's at the bottom of this tutorial page should be able to help you out:
For using MoveIt's ROS API with Python you just need to understand how to use publisher/subscribers, services and actions in general (http://wiki.ros.org/rospy/Tutorials) and fill in the required information (http://wiki.ros.org/moveit_msgs).
Geek,
You could call MoveIt's compute_ik service (service description) and then use the computed joint positions to generate motions commands for your robot.
PS: MoveIt's mailing list is (currently) the better place to ask MoveIt-related questions: https://groups.google.com/forum/#!for... As of April 2017 answers.ros.org is the recommended QA site.
Hi! Can you please tell me how to call the /compute_ik service? What arguments should I be passing? If it is being published by any of the topics, how do I pass it?
Thanks!
Asked: 2013-09-22 19:03:37 -0500
Seen: 1,770 times
Last updated: Apr 17 '17
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Do you already have a low level ros node implementing FollowJointTrajectoryAction for your hardware?