Hi,
I am on Ubuntu 16.04 LTS and ROS Kinetic. I am trying to control a Robotis Manipulator-H with MoveIt! and I have been able to do it in Gazebo (using this links: https://github.com/AS4SR/general_info/wiki/ROS-MoveIt!-and-Gazebo-Integration-(WIP) and https://github.com/eYSIP-2017/eYSIP-2017_Robotic_Arm/wiki/Interfacing-MoveIt%21-with-Gazebo), so now I am trying to do that in the real robot. I have searched a lot on how to do this but I can't really find anything... I have tried the package "dynamixel_controllers" and the tutorial in this link:
https://github.com/eYSIP-2017/eYSIP-2017_Robotic_Arm/wiki/Interfacing-Real-Robot-with-MoveIt%21
To connect the manipulator with MoveIt! but I wasn't able to do it since this tutorials uses the package "dynamixel_controllers" and it only works with Dynamixel motors and not Dynamixel PRO motors (which are the ones used bu the Manipulator-H). I also found out that I need an action server and a client server (or something like that) but since I am a newbie, I don't know how this properly works... can you guys give me any advices on how to connect the manipulator? I think this topic is a lot under documented...
Other packages that I tried but with no success: "dynamixel_workcbench" and "open_manipulator".
Thanks!,
José Brito
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