Publishing joint positions from ros to robotstudio

[kalepo]

I've recently been publishing robot arm joint velocities from unity and publishing real time joint states into a rostopic.

I want to now publish those real time joint states to robotstudio to make it move in real time...

Does anyone know how I would I do this?

[gavanderhoorn]

You could use a JointGroupPositionController from ros_controllers.

You'd have to make sure your motions are continuous though, or tune the filtering EGM applies.

[kalepo]

How would I produce and send joint positions from unity to the ros_controller? I've made a urdf in unity published its joint positions to ROS

[gavanderhoorn]

That would be something for you to figure out I'm afraid.

As a general comment, JointState is not typically used for commanding robots in ROS. There are other messages to use, such as FollowJointTrajectoryAction.

It can be done though, but fi the JointGroupPositionController would require different inputs (std_msgs::Float64MultiArray), so you'd have to convert.

[kalepo]

How would I go about converting from sensor_msgs/JointState to std_msgs::Float64MultiArray?

[kalepo]

@gavanderhoorn any ideas for this?