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Hello Everyone,

I am working on creating a Moveit!-Gazebo Interface for my Robot and later also expanding it to create a Hardware Interface so that real Robot can act on the trajectory decided by MoveIt!

I have been successful in creating a Gazebo model (though it needs improvements) and also Interface it to RViz-MoveIt! and I see an actuation based on the trajectory in MoveIt!

Since I am using the Joint Trajectory Action Controller I was doing a rostopic echo on the Action Topics thus created, and I was a bit surprised to find out that the Topics like

/follow_joint_trajectory/ goal /follow_joint_trajectory/ feedback /follow_joint_trajectory/ result /follow_joint_trajectory/ cancel

did not have any data in them despite the Gazebo- MoveIt! Interface working well.

If these Topics have some issues then obviously i would be able to get the commands in to the Hardware Interface I would be writing.

Hence, I request some assistance in solving this problem. You may find my Repo over here

I am cuurently using ROS Indigo. Is there someone who has faced this very issue in the Indigo ?

I would be very grateful if someone could point to the missing/ incorrect settings in my code.

Thanks a lot

Jalashwa


Originally posted by Jalashwa on ROS Answers with karma: 1 on 2017-08-27

Post score: 0

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1 Answer 1

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The only interface MoveIt! uses to communicate with the robot in gazebo is the ros-actions specified in config/controllers.yaml. So at least there has to be one message sent via the topic /sr_scara_hx/sr_scara_hx_joint_controller/follow_joint_trajectory/goal when you start to execute a trajectory.


Originally posted by v4hn with karma: 2950 on 2017-08-28

This answer was ACCEPTED on the original site

Post score: 0

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