Forgive me, I am pretty new to ROS, so please excuse any gaps in my knowledge. I have a wireless ESP8266 microcontroller reading joint_state data from an ABB robot through serial connection and it is sending it directly to a remote ros server. I'm able to see the physical robot's live position by using 'rostopic echo joint_states' on the server, but I'm unable to visualize its movements in Rviz. I launched the demo of the Abb_irb6640_moveit_config package but I am confused on how to control it by reading joint_states. I am attempting to use Rviz in conjunction with rosserial's serial_node.py script.
UPDATE:
Thanks to @gdvhoorn ! I was finally able to get the visualization to work. I hadn't mentioned earlier that I was using the rosserial package to publish joint_state msgs using this arduino code [https://github.com/mikevillan26/open_abb_serial_logger.git](https://github.com/mikevillan26/open_abb_serial_logger.git). I had to simply change the joint names I had declared in my code to reflect those of the abb_irb_6640 urdf. From there, I could launch the robot_state_visualize.launch file in the abb_irb6640_support pkg in conjunction with the rosserial_python/serial_node.py/tcp and the model would finally reflect the live movements of my robot.
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