Hi,
I'm attempting to build ROS, and specifically moveit, support for a 5 jointed robot arm that until now has had no ROS integration. I've made a moveit config file that I can load correctly into rviz and plan paths with, using the demo.launch file, but when I attempt to plan and execute, my follow_joint_trajectory action server never receives anything. Right now the action server isn't connected to the robot itself and I'm just trying to check it can receive a trajectory at all. Here is my code for the server, however it initialises correctly and I'm pretty sure this isn't the problem.
#! /usr/bin/env python
import rospy
import actionlib
from control_msgs.msg import (
FollowJointTrajectoryAction,
FollowJointTrajectoryFeedback,
FollowJointTrajectoryResult,
)
from trajectory_msgs.msg import (
JointTrajectoryPoint
)
class JointTrajectoryActionServer(object):
def __init__(self, controller_name):
self._action_ns = controller_name + '/follow_joint_trajectory'
self._as = actionlib.SimpleActionServer(
self._action_ns,
FollowJointTrajectoryAction,
execute_cb=self.execute_cb,
auto_start = False)
self._action_name = rospy.get_name()
self._as.start()
self._feedback = FollowJointTrajectoryFeedback
self._result = FollowJointTrajectoryResult
rospy.loginfo('Successful init')
def execute_cb(self, goal):
joint_names = goal.trajectory.joint_names
trajectory_points = goal.trajectory.points
rospy.loginfo(trajectory_points)
if __name__ == '__main__':
rospy.init_node('r12_interface')
server = JointTrajectoryActionServer('r12_arm_controller')
rospy.spin()
I also followed the moveit tutorials to make a controllers.yaml:
controller_list:
- name: r12_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints: - waist_joint
- shoulder_joint
- elbow_joint
- hand_joint
- wrist_joint
and a moveit controller manager launch.xml
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