Hi all,
I was able to simulate the UR5 and control it in simulation from RViz, fololwing these steps:
$ roslaunch ur_gazebo ur5.launch
$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true
Now I would like to know how to control the real UR5, but first I need to know how RViz is talking to Gazebo in order to make the robot moves. Does anyone know what kind of input is needed by gazebo? Or better, what kind of information is being sent to Gazebo when I press "plan and execute" in RViz? I suspect they are the joints states, but I don't know where to read this information.
Thank you for your help in advance.
↧