I have been digging into the topic and apparently there are at least three options when it comes to controlling both UR models:
- Action interface: I would need to learn how to use actionlib properly and then try to apply it to the UR.
- Topic interface: I think I posses the knowledge to carry this path.
- MoveIt!: It seems to be a big deal in ROS Industrial but unfortunately I haven't used it as of today.
I was trying to control a simulated UR10 (in Gazebo using Indigo) which I will later have to synchronize with a real UR10 and I guess I know how to continue using the topic interface. My question is which one out the three options would you recommend and why?
↧