[ros-users] using ROS with a new 7-DOF arm hardware

Patrick Beeson beeson.p at gmail.com
Fri Jun 17 14:29:29 UTC 2011

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,


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