Hello,
i created the kuka youbot(arm only) simulation model with moveit. I can control the arm without any problems.
In my next step i would like to connect the simulation model with the real youbot arm and let the arm move on command in my model.
I already found this: [Implement Moveit on real Robot](http://answers.ros.org/question/192739/implement-moveit-on-real-robot/).
Can anybody tell me how the action server works and why i need that to control my actual arm?
How do i tell the controller of each joint to rotate like in my joint_states_topic?
Thanks!
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