Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

I guess you forgot to include the moveIt-Error message?

Anyways, to connect your robot you'll need to do the following stuf.

Create a proper urdf for your robot
Use the setup assistant to create the necessary files
Write a JointStatePublisher
Write an ActionServer waiting for FollowJointTrajectory-Messages

If you include the error-message, I might be able to help you more

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.