Hi Patrick,

I have recently done the same for "my" IRB6 manipulators, but i had slightly
diferent approach. My real-time controller is implemented in OROCOS and
offer jointTrajectoryAction interface.
I have used it to run arm_navigation with kinect, on those manipulators.
You can find everythink what i used  to achive this here :
https://github.com/organizations/RCPRG-ros-pkg
https://github.com/konradb3/sandbox

Pozdrawiam
Konrad Banachowicz


2011/6/17 Patrick Beeson <beeson.p@gmail.com>

> Hi Gil,
>
> I've ended up making my own arm controller that acts like the
> pr2_etherCAT controller (similar to the way Gazebo does), so that I
> can simply use the pre-compiled joint_tracjtory_action in
> robot_mechanism_controllers and I get commanded efforts out on my end.
>  So, now I'm at the point where I need to figure out the easiest way
> to get move_arm up and running and sending joint tracjectories to my
> controller.  Rather than piece this all together myself (the
> documentation for arm_navigation stack seems to jump to
> pr2_arm_navigation, which gets confusing, similarly I don't know which
> of the various planners are deprecated), I would love too simply point
> myself and my intern at your tool chain documentation.  Is this
> something you see being testable by us in the near future?  I realize
> that you guys are working hard, I'm just trying to get an ETA so we
> know if we should wait a few days or start trying to sift through the
> documentation, which deals a lot with messages and packages I think
> might not be part of the process you want to use in e-turtle.
>
> Thanks for the help,
>
> Patrick
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