Publish Joint position step by step

Question

Greetings, I need an advice about how to perform my robot simulation. I have a node that subscribe a topic and use the data subscribed to create a vector with all the angle that a joint has to reach through the final joint angle. I have three different joints, which is the best message to publish that contains the three joint angles? How can I publish them step by step. How can I make the second node that subscribe these joint angles?

Thank you

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Originally posted by nikkk on ROS Answers with karma: 13 on 2017-01-22

Post score: 0

Answer 1

You need to create a URDF description of your robot, with links and joints for any moving or fixed relationships between the various reference frames. Then you should launch robot_state_publisher and joint_state_publisher to supply frame transformations as requested. In particular, you should configure joint_state_publisher to listen for the topics on which you will publish the joint states.

Presumably you'll either write a custom node or use a package like moveit to calculate and publish the required joint angles.

To actually perform the joint movements, you'll need a custom node that listens for the joint states and talks to your hardware, unless there is an appropriate package already available.

You should probably read these:

• URDF tutorials: read the tf tutorial and then 2.1, 2.2, 2.4, and 4.5.
• robot_state_publisher documentation
• joint_state_publisher documentation

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Originally posted by Mark Rose with karma: 1563 on 2017-01-25

This answer was ACCEPTED on the original site

Post score: 5