Hello all,
I have done the motion planning using moveit!. I 'm using move group interface (c++) to create joint space goal and currently i'm visualising the motion planning in rviz.
However i want to control Jaco/Panda robots in vrep by using the motion planning from moveit. My main questions are:
1. How can i send my joint space goal(joint angles) that i create using moveit! to vrep?
2. Do i have to create ROS services/Topics and put my moveit code into it??
3. Are there any tutorials or references that i can refer to?
Any help is appreciated! Thank you for your time.
Controlling Jaco/Panda in VREP using motion planning from MOVEIT!
Re: Controlling Jaco/Panda in VREP using motion planning from MOVEIT!
Using the RosInterface plugin you can create any subscriber or service server, with any message type you want.
Perhaps the easiest thing is to read MoveIt results in V-REP directly, and execute the motion with your own strategy.
Perhaps the easiest thing is to read MoveIt results in V-REP directly, and execute the motion with your own strategy.
Re: Controlling Jaco/Panda in VREP using motion planning from MOVEIT!
Can you share how to:
1. Get the moveit results out of moveit and send them to vrep??
1. Get the moveit results out of moveit and send them to vrep??
Re: Controlling Jaco/Panda in VREP using motion planning from MOVEIT!
You need to edit meta/messages.txt to add support for the message you need to transmit (e.g. moveit_msgs/RobotTrajectory) and recompile the RosInterface plugin. Then you can set-up a subscriber as explained in the ROS tutorial (or similarily, a ROS service server), to receive the message sent from your MoveIt C++ node.
How to get the RobotTrajectory message (or any other message) out of MoveIt it depends on how you implement your MoveIt C++ node. The means of communication is always a ROS topic or service.