I'm new to ROS and trying to learn it, but seem to be missing something to complete my goal.
First of all, i work as software engineer for many years now and spend a lot of my free time in game development. But i also have a great interest in robots, but never found a way to start it due to my lack of electronics knowledge. Recently i discovered arduino and started playing with it, so this solved my issue with electronics knowledge and allowed me to build some electronics for creating a robot. My project will be based on the open source 3D printable robot InMoov (http://inmoov.fr), but by default this robot is using MyRobotLab running on windows. As i prefer linux over windows, c++ over Java and want some development (challenge) to do instead of having a full funcional robot by following the manuals and just running the software, i searched for an alternative. So i ended up with ROS :)
I started with running some tests to have a node running that drives the servo's connected to the arduino boards, so this part is working. Next, i created a description node with the urdf/xacro so i can visualize the robot in rviz, this is also working.
But now i want to publish from the command line to a topic to see the joint angle being changed in rviz, but can't figure out how to do this. I do know how to publish to a topic from the command line as i went trough all tutorials, including the turtlebot, but what is the topic for a single joint of the urdf?
This is also the part confusing me, once i can move a joint and translate this into controlling the servo, how to communicate this info between ros components like navigation, moveit, ...
Kind regards, Randy
Edit: Thanks for your answer.
I already have the URDF/xacro files and can view the robot in rviz. After a lot of experimenting i was able to set the joints by creating a cpp node publishing the entire joint state structure, causing rviz to switch between the joint_state_publisher state and my custom state, so i removed the joint_state_publisher from the launch file.
Will create a tf node tomorrow to do some experimenting with it :)
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