Rostopic pub

[仇隽挺]

Hello everyone!

(1):
ubuntu@MTlab:~$ rosmsg show control_msgs/FollowJointTrajectoryActionGoal
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
actionlib_msgs/GoalID goal_id
  time stamp
  string id
control_msgs/FollowJointTrajectoryGoal goal
  trajectory_msgs/JointTrajectory trajectory
    std_msgs/Header header
      uint32 seq
      time stamp
      string frame_id
    string[] joint_names
    trajectory_msgs/JointTrajectoryPoint[] points
      float64[] positions
      float64[] velocities
      float64[] accelerations
      duration time_from_start
  control_msgs/JointTolerance[] path_tolerance
    string name
    float64 position
    float64 velocity
    float64 acceleration
  control_msgs/JointTolerance[] goal_tolerance
    string name
    float64 position
    float64 velocity
    float64 acceleration
  duration goal_time_tolerance

(2):
rostopic pub -1 /joint_state /control_msgs/FollowJointTrajectoryActionGoal -- '[1, [1, 1], [] ]' '['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']' '[-2.0004101276397705, -0.2954617440700531, -2.0417795181274414, 0.9874234199523926, 0.1206984668970108, -1.8074545860290'527]' '[]' '[]'

(1) is the ros message of the trajectory action goal of the joint state.
(2) is the command I wrote in the terminal to publish the information and want to control the robot.

But it shows nothing and getting stuck.

Could anyone help me?

[Shaun Edwards]

It's not entirely clear what you are trying to do.  Publishing a trajectory from the command line is very difficult.  My recommendation is to bring up the MoveIt config package for a particular robot and then watch the ROS message flow to help you understand what is going on.  If you tell em what robot you are interested in controlling, I could point you to the right launch file.

-Shaun

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[仇隽挺]

Hello!

I tried move the robot by using move_to_joint.py and the robot i am using is sia 20d kawasaki.

I will try moveit and hope it can work today.

I have one question how to change robot speed by using move to joint.py?

Thank you

-Jason

在 2014年10月29日星期三UTC+1下午11时49分58秒，Shaun Edwards写道：

[仇隽挺]

Hello again!

I think I might change move_to_joint with moveit package instead

-Jason

在 2014年10月31日星期五UTC+1上午10时56分45秒，仇隽挺写道：