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Connecting Action server, Moveit, and a 5 DOF robot arm

I have modified, modeled, and physically built a 5DOF arm with the help of this GitHub repository:

Jmichieils

I have successfully executed Moveit Planning and Gazebo simulation.

I now would like to substitute my Gazebo model for the real thing.

My Rosserial libraries are setup on my Ubuntu 16.04 Arduino IDE, and I am running Kinetic.

I am really just struggling to find a simple example of what my Arduino Code should look like. Can this be done with one Arduino sketch?

Connecting Action server, Moveit, and a 5 DOF robot arm

I have modified, modeled, and physically built a 5DOF arm with the help of this GitHub repository:

Jmichieils

I have successfully executed Moveit Planning and Gazebo simulation.

I now would like to substitute my Gazebo model for the real thing.

My Rosserial libraries are setup on my Ubuntu 16.04 Arduino IDE, and I am running Kinetic.

I am really just struggling to find a simple example of what my Arduino Code should look like.

  1. Can this be done with one Arduino sketch?

  2. What changes do I need to make to my launch files to not launch in gazebo but only the real robot.

(All of the required files are in the GitHub)

Thanks

Connecting Action server, Moveit, and a 5 DOF robot arm

I have modified, modeled, and physically built a 5DOF arm with the help of this GitHub repository:

Jmichieils

I have successfully executed Moveit Planning and Gazebo simulation.

I now would like to substitute my Gazebo model for the real thing.

My Rosserial libraries are setup on my Ubuntu 16.04 Arduino IDE, and I am running Kinetic.

I am really just struggling to find a simple example of what my Arduino Code should look like.

  1. Can this be done with one Arduino sketch?

  2. What changes do I need to make to my launch files to not launch in gazebo but only the real robot.robot?

(All of the required files are in the GitHub)GitHub: arm_control demo.launch...)

Thanks