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I am new to ROS. I wanted to ask whether with using MoveIt or any other package with a robotic arm you are able to retrieve the joint positions and angles from whatever configuration the robotic arm is in.

I plan to use ROS with a robotic arm for reinforcement learning so when an action is taken I want to know what the joint locations and angles are to begin with and what the joint locations and angles are after the action is taken.

Note: I do not want to specify what location of the joints I want the arm to move to - rather, I want to know what the location of the joints is when I apply some random action.

Thanks!


Originally posted by mellow54 on ROS Answers with karma: 3 on 2018-10-23

Post score: 0

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In typical setups the joint states of a robot are published on a joint_states topic with messages of type sensor_msgs/JointState.

Those would allow you to be notified of the current pose (in joint space) of a robot, simulated or not.


Originally posted by gvdhoorn with karma: 86574 on 2018-10-23

This answer was ACCEPTED on the original site

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Original comments

Comment by mellow54 on 2018-10-23:
Thanks! This is what I wanted

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