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Using the arm_controller/command topic, how can I publish valid commands to the UR10/UR5? Is there a list of example commands to send.

I'm trying to follow https://github.com/ros-industrial/universal_robot setup for controlling a univeral robot in gazebo. My goal is to move the UR arm in simulation using joint position commands published through the terminal window (rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory). I'm able to launch the simulation following the repo's readme file. I'm not interested in using moveit or rviz to send commands.


Originally posted by StewartHemm74 on ROS Answers with karma: 46 on 2020-08-26

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Original comments

Comment by gvdhoorn on 2020-08-26:
I would suggest to add more information to your question: which driver are you using, how are you starting things, what configuration of the driver are you using, what is the type of arm_controller/command (we don't know), what is your goal (ie: pick-and-place, following a moving target, something else), etc, etc.

And link to whatever you refer to.

As-is, your question is too vague, and is hard to answer.

Comment by StewartHemm74 on 2020-08-26:
I've added more details, attached links, and specified what my goal once in the updated question

Comment by gvdhoorn on 2020-08-26:
Perhaps #q351835 can help here.

Comment by gvdhoorn on 2020-09-01:
Please do not delete questions with answers.

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Refer to the folowing post: https://answers.ros.org/question/261081/cannot-create-trajectory-from-message-it-does-not-contain-the-expected-joints/

Answer deals with providing valid all joint names with the controller that the univeral robot manipulators use.


Originally posted by StewartHemm74 with karma: 46 on 2020-08-26

This answer was ACCEPTED on the original site

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