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Integrate actual robot into moveit(other way than ros_control?)

hello sir, as a beginner, i just completed tutorials and found out the solution pretty near to it. but however, before proceeding, i think there must be another simpler way to do it....and here is my problem- i have written topics which when called without arguments gives joint positions, and if called with arguments, executes requested joint positions(though it should be service(to confirm for correct execution), i havent written so, thinking i might require to access them in multiple ways) now how can i integrate into moveit? i mean, should i have to write ros_control for it or simply i have to publish(through a node-topics) to topics(like joint states), somewhere in moveit infrastructure? thanks.

Integrate actual robot into moveit(other way than ros_control?)

hello sir, as a beginner, i just completed tutorials and found out the solution pretty near to it. but however, before proceeding, i think there must be another simpler way to do it....and here is my problem- i have written topics which when called without arguments gives joint positions, and if called with arguments, executes requested joint positions(though it should be service(to confirm for correct execution), i havent written so, thinking i might require to access them in multiple ways) ways)(through these topics, i can only control joint position and speed(neither effort nor other parameter)) now how can i integrate into moveit? i mean, should i have to write ros_control for it or simply i have to publish(through a node-topics) to topics(like joint states), somewhere in moveit infrastructure? thanks.