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
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