Ugo,

Have you looked at this tutorial:

http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm

I outlined the steps I took to make my arm work with ROS motion
planning pipeline.

Anton

On Fri, Mar 4, 2011 at 9:27 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:
> Hi,
>
> I'm getting more and more lost trying to implement the move_arm properly, so
> sorry in advance if my questions are a bit messy.
>
> At first I duplicated the move_arm package and completely modified it for my
> arm. It kind of worked but it didn't seem like a good solution, as move_arm
> seems to be very generic:
> The only command output from this package seem to be a
> pr2_controllers_msgs::JointTrajectoryAction. So if I implement my own
> joint_trajectory_action_controller.cpp, which is a
> SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction>, to move my
> arm, will it work?
>
> To use the generic move_arm package, I'm still missing a motion_planner (I
> think). Should I try to use the ompl_planner or the ik_constrained_planner
> or something else? When I'm trying to compile the ik_constrained_planner
> it's failing to build due to the generic_kinematics overlay (from
> https://code.ros.org/svn/wg-ros-pkg/stacks/kinematics/branches/generic_kinematics).
>
> Hope you can give me some hints on what I am doing wrong.
>
> Cheers,
>
> Ugo
>
> --
> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
> Software Engineer | 251 Liverpool Road |
> need a Hand? | London N1 1LX | +44 20 7700 2487
> http://www.shadowrobot.com/hand/ @shadowrobot
>
>
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