Hello all,
I am currently in the process of working on a custom robot with custom joints. We have electric motors with an encoder and a low level driver that we can communicate with via CAN. I'm wondering how do we get ros_control and eventually MoveIt to control the robot completely. I was looking for tutorials on the wiki page, and didn't find anything of real use. I've used ros_control with Universal Robots, but never for a custom system. Does anyone have any general information on how to go about this?
I will update with the actually CAN controller when the electrical engineer on the project selects it. I'm just trying to look ahead.
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