Hello guys,
I'm writing on my bachelor thesis and I've got some problems according to moveIt and it's implemention.
I managed to write a controller and action_server for moveing the arm by analyzing the FollowjointTrajectory_msgs and now I want to implement the gripper.
I allready wrote a SimpleActionServer for the Gripper using the GripperCommand but I don't know how to send the Pick/Place request without using Gazebo.
Till now I roslaunch the move_group, moveit_rviz, the actionservers and my node to connect the arm via ethernet.
How can I generate a manipulatable Object in RVIZ which I can pick/place?
Thank you in advance
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