I want to control an additional motor along with my UR5 using moveit. I have added new controller to the moveit config controllers.yaml called rail_controller and made necessary changes to the URDF like adding extra joint and transmissions.
controller_list:
- name: "arm_controller"
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
joints: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
- name: "rail_controller"
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- rail_joint
I think the next step is to write a node that can take FollowJointTrajectory type of command and pass it on to my motor.
Can i find an example for writing follow_joint_trajectoy action server that can take joint space commands from moveit and pass it forward to the actual motor.
Any help would be greatly appreciated, with so many types of controller documentation,I am unable to find the right resource to follow.
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