I have created a custom robotic arm with two revolute joints that is moving in Rviz and Gazeebo. Now i want to send the joint positions to actual robot. How do i do that.
I think I need to make an Action Client for this but I can't find how to make one to read trajectory goals generated by MoveIt.
Can somebody help regarding this.
I am attaching the output i get on doing rostopic echo
$ rostopic echo /uvbot_v1/arm_controller/follow_joint_trajectory/goal
WARNING: no messages received and simulated time is active.
Is /clock being published?
header:
seq: 2
stamp:
secs: 255
nsecs: 395000000
frame_id: ''
goal_id:
stamp:
secs: 255
nsecs: 395000000
id: "/move_group-3-255.395000000"
goal:
trajectory:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "/world"
joint_names: [joint1, joint2]
points:
-
positions: [0.49336604685127927, 1.112543918611408]
velocities: [0.0, 0.0]
accelerations: [-0.9223423941897395, 0.0]
effort: []
time_from_start:
secs: 0
nsecs: 0
-
positions: [0.4845707448789484, 1.111678215207906]
velocities: [-0.11132963480777286, -0.010957945965573037]
accelerations: [-0.9852177117397862, -0.0969729440702013]
effort: []
time_from_start:
secs: 0
nsecs: 138100194'
I want to send the joint position values via an Arduino to my stepper motor.
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