How to use Universal Robot UR5 with tesseract (TrajOpt)
Currently working with STOMP and a universal robot UR5. (Kinetic)
First of all i use the UR5-package from github. Everything working fine. Next commands are used to start the robot connection, launch the planner STOMP and RVIZ simulation.
roslaunch ur_bringup ur5_bringup.launch robot_ip:=192.168.0.1
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
Next i run a small python file: rosrun ur5_moveit_chomp_config trajectory.py
This python file works perfectly in the simulation and goes from A to B. Next the trajectory is send to executing it and the real robot also moves from A to B. Everything is working fine. The topic with the trajectory is:
/move_group/monitored_planning_scene
I guess the driver listens to that topic... I also wrote a cpp-file for the same problem with the TrajOpt planner. Also working with RVIZ using tesseract-package.
But how do i send this trajectory to the real UR5 ? Tesseract topic is:
trajopt/display_tesseract_trajectory
How can i implement the tesseract trajectory with the UR5? Can i remap the topics?
Thanks in advance.
Sort of the same issue here: https://github.com/ros-industrial-con...