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I need help about step by step to write a program from first to last, ROS packages for used in this application so that specify the position of robot arm.

ex.

  1. Write a program for control hardware (Motor Control) Node.
  2. Use joint_state_publisher to ....blah blah blah ...........
  3. ....................................................................................

I need more details about in a beginner level for control forward kinematic of robot arm following the joint variables and I should write PID control in hardware node or other or not?

Thank you for all answers


Originally posted by Soda on ROS Answers with karma: 15 on 2013-01-14

Post score: 0

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1 Answer 1

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This is a great tutorial for what you want to do:

www.ros.org/wiki/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm


Originally posted by isura with karma: 403 on 2013-01-14

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by Soda on 2013-01-29:
I need more details about in a beginner level for control forward kinematic of robot arm following the joint variables and I should write PID control in hardware node or other or not?

Comment by isura on 2013-02-08:
This answer by Martin Günther may be of some help in getting started: http://answers.ros.org/question/12182/controllers-vs-drivers/#18025

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