Using Moveit to control 6 dof manipulator
Hi guys. I created a controller for 6 dof manipulator in ROS. There are six nodes 4 comute messages for comunication one is servise server which actually communicates with the robot and sends request messages and feedback response messages.One is main_control which gives basic commands. It sends commands for unbrake or motion or controlls the position and speed. One node publish all joints positions in frequency 50 hz and I can tell to every single joint to move on position in his scale. For example joint 5 has scale -135° 135° and I can tell him to go on -70° and he moves there with accurancy 0.1°
I want to implement some IK kinematics to the model using moveit. I am still reading something about joint followtrajectory actions and I already created urdf file and use it in move it launch. But I dont know how to connect this two thing and actually control the robot from moveit. I did not start nothing special and come here for advice because i dont want to do something wrong.
I have one more question is a good idea to rewrite my controller nodes to actionlib server and clients. Does it help to communicate with moveIt o I can easily communicate with moveit witout any action server.
Sorry for my english I would be gratefull for any advice
I tried this tutorial http://wiki.ros.org/Industrial/Tutori... but half link are not working for example in part 3.
I've created an issue for the dead lines (here). The MoveIt domains/hosting/doc has changed quite a bit lately, and that tutorial hasn't been updated yet. Hence the dead links.
Thank you for your time. Is there a real chance that I can find solution for this problem because aplication of ROS control and kinematic to a robotic manipulator is main point of my Bachelor thesis and I really want to use moveIT. Or can you recommend me any other solutions?
In a nutshell: write a
ros_control
interface for your hardware, configureros_control
to run aJointTrajectoryAction
server on top of that and then make MoveIt use that server. Apart from thehardware_interface
, this is all configuration work, no coding required.Ok thank you for your time. I will try to do as you say. First I will start with this tutorial. http://gazebosim.org/tutorials/?tut=r... and I will see
Hi, I meet the same problem as you. I kown they communicate with the FollowJointTrajectoryAction. And I have built a simple action client to send position message and a simple action server to receive it to manipulator. And it moves successfully! But I still dont kown
But I still dont kown how to use moveit to control my manipulator. Do you solve it? I also do it for my Bachelor thesis.