Hi,<br><br>I&#39;m getting more and more lost trying to implement the move_arm properly, so sorry in advance if my questions are a bit messy. <br><br>At first I duplicated the move_arm package and completely modified it for my arm. It kind of worked but it didn&#39;t seem like a good solution, as move_arm seems to be very generic:<br>
The only command output from this package seem to be a pr2_controllers_msgs::JointTrajectoryAction. So if I implement my own <b>joint_trajectory_action_controller.cpp</b>, which is a SimpleActionServer&lt;pr2_controllers_msgs::JointTrajectoryAction&gt;, to move my arm, will it work?<br>
<br>To use the generic move_arm package, I&#39;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&#39;m trying to compile the ik_constrained_planner it&#39;s failing to build due to the generic_kinematics overlay (from <a href="https://code.ros.org/svn/wg-ros-pkg/stacks/kinematics/branches/generic_kinematics">https://code.ros.org/svn/wg-ros-pkg/stacks/kinematics/branches/generic_kinematics</a>). <br>
<br>Hope you can give me some hints on what I am doing wrong. <br><br>Cheers,<br><br>Ugo<br clear="all"><br>-- <br>Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a> <br>
Software Engineer | 251 Liverpool Road | <br>need a Hand? | London N1 1LX | +44 20 7700 2487 <br><a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot <br><br>