Hi guys.
I created a controller for 6 dof manipulator in ROS. There are six nodes 4 comute messages for comunication one is servise server which actually communicates with the robot and sends request messages and feedback response messages.One is main_control which gives basic commands. It sends commands for unbrake or motion or controlls the position and speed. One node publish all joints positions in frequency 50 hz and I can tell to every single joint to move on position in his scale. For example joint 5 has scale -135° 135° and I can tell him to go on -70° and he moves there with accurancy 0.1°
I want to implement some IK kinematics to the model using moveit. I am still reading something about joint followtrajectory actions and I already created urdf file and use it in move it launch. But I dont know how to connect this two thing and actually control the robot from moveit. I did not start nothing special and come here for advice because i dont want to do something wrong.
I have one more question is a good idea to rewrite my controller nodes to actionlib server and clients. Does it help to communicate with moveIt o I can easily communicate with moveit witout any action server.
Sorry for my english I would be gratefull for any advice
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