Hi,
I'm working on a robot arm, i already created a urdf and controller.yaml file to control my robot in gazebo with trajectory_msgs.
Now, i would like to add a target in gazebo, behind my robot and make it move in space as a function of x, y, z. The goal is that the arm reach the target using inverse kinematic.
So i would like to know what is the best way to do this :
- Should I create another urdf and controller (yaml) file for my target or i can added the model of the target in my robot_arm.urdf?
- To lead my target in space(x,y,z), i would like to use "geometry_msgs/Point.msg", is this the right method?
If you know some tutorials to do this i want them.
Thank you for your answers.
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