Hi, Yes I saw it a while ago, and had forgotten about this link. Thanks. I'll check your code and see if it helps me with my problems :) Cheers, Ugo On Fri, Mar 4, 2011 at 4:44 PM, Antons Rebguns wrote: > 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 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, 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 > > > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > -- 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