UR5 topic for publishing poses
Can anyone tell me what topic I can use to publish poses to a UR5? The /cmd_vel for a ur5 manipulator.
I looked at the topics listing and found /execute_trajectory/goal as a likely suspect but when I echo the data, it doesn't look like the structure of a pose as I have been creating in moveit.
So, in that topic I get output in the following structure:
positions: [-0.8568392680231112, -0.9904359586560226, -0.9175880817002995, 1.4314831272490385, -1.2324064362209983, -1.372614572962234]
velocities: [-0.24525353427218927, 0.13758645148283769, 0.16755178896132014, 0.7657359296959652, 0.07219514769336874, -0.577325360894504]
accelerations: [0.11858302269636144, -0.06652469799188265, -0.08101329773770265, -0.3702424978299368, -0.03490721902497513, 0.2791437300885474]
effort: []
time_from_start:
secs: 4
nsecs: 746101843
-
positions: [-0.9021423256318709, -0.965021087648316, -0.8866380349648214, 1.5729293210380886, -1.2190706001249698, -1.4792577011080434]
velocities: [-0.2080229909896742, 0.11670023529753142, 0.1421167054282767, 0.6494939160665807, 0.061235613189770326, -0.4896848834568918]
accelerations: [0.23728627722408094, -0.13311684565818369, -0.1621087352027387, -0.7408603861040486, -0.06984983062788713, 0.5585704851929627]
effort: []
time_from_start:
secs: 4
nsecs: 939473866
-
Instead of the moveit structure like:
position:
x: 0.338441759145
y: 0.293582473395
z: 0.0863325043778
orientation:
x: 0.4272596592
y: -0.366043813564
z: -0.748817679545
w: 0.350332974428
Am I right? If it is the execute_trajectory/goal topic I would appreciate links to examples.
If not, please advise.