what we want to do is drive the angles of the arm joints of the pr2 manually. They are computet continously in a motion planning algorithm and send to the arm joints.
So far I have looked at: (cant post working links)
- Moving the arm using the Joint Trajectory Action tutorial @ wiki.ros.org/pr2_controllers/Tutorials/Moving%20the%20arm%20using%20the%20Joint%20Trajectory%20Action
Here I have to specify waypoints for the joints over time. It does not work when I try to run it with one single waypoint. Is this somehow possible? 2. Adapt the Moving the torso tutorial @ wiki.ros.org/pr2_controllers/Tutorials/Moving%20the%
This one is using the SingleJointPositionAction. I cant make it work because there is no action node related to r_arm_controller running on my gazebo simulator. (see section 1.5 of tutorial) Does driving the head joint differs from driving the arm joint?
- Writing my own low level controller? See this tutorial @ wiki.ros.org/pr2_mechanism/Tutorials/Writing%20a%20realtime%20joint%20controller
Is this a good idea? I cant imagine this is the best way to do it.
I have been working with ros for just two weeks so please dont assume deep knowledge in your answers!
Any help is welcome!
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