Hi all,
Unfortunately I am really struggling with implementing MoveIt! on my custom hardware.
Basically I am stuck in connecting to an Action Client.
I have been successful in using a driver package to control my motor drivers (RoboClaw).
[link](https://github.com/bcharrow/scarab/tree/master/roboclaw) from @bcharrow
Unfortunately in MoveIt am always greeted with:
>[INFO] [1410916361.912676781]: MoveitSimpleControllerManager: Waiting for /full_ctrl/joint_trajectory_action to come up>[ERROR] [1410916366.912904732]: MoveitSimpleControllerManager: Action client not connected: /full_ctrl/joint_trajectory_action>[ INFO] [1410916371.938914542]: MoveitSimpleControllerManager: Waiting for /gripper_ctrl/joint_trajectory_action to come up>[ INFO] [1410916376.939103684]: MoveitSimpleControllerManager: Waiting for /gripper_ctrl/joint_trajectory_action to come up>[ERROR] [1410916381.939338320]: MoveitSimpleControllerManager: Action client not connected: /gripper_ctrl/joint_trajectory_action>[ INFO] [1410916381.957750506]: Returned 0 controllers in list>[ INFO] [1410916381.963234975]: Trajectory execution is managing controllers
My Action Client is based on this:
[link](http://docs.ros.org/diamondback/api/pr2_props/html/repeat__high__five_8cpp_source.html)
Can anyone offer more of a step by step instruction on connecting my robot to MoveIt, i haven't found any such tutorial or etc such as:
[link1](https://github.com/ros-controls/ros_control/wiki/controller_interface)
[link2](http://www.seas.upenn.edu/~juse/tutorial/ckbot_moveit.html)
Cheers,
Chris.
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