Hi,
I am in the process of integrating Gazebo to view the trajectory generated by MoveIt! for ABB YuMi robot.
I am using these packages as a starting point: https://github.com/OrebroUniversity/yumi
Apart from the two controllers.yaml files, [https://github.com/OrebroUniversity/yumi/blob/master/yumi_control/config/controllers.yaml and
https://github.com/OrebroUniversity/yumi/blob/master/yumi_moveit_config/config/controllers.yaml ]
I have the controllers for Gazebo and the overall graph that can be found here:
https://drive.google.com/drive/folders/0Bx0AJvW-lbnBUjUwdE80R1Fxa00
As seen from the graph, the FollowJointTrajectory Action is not attached to either Gazebo or MoveIt.
I am trying to better understand the implementation of various controller configurations.
What do I need to add/change so that the FollowJointTrajectory action interface receives the planned trajectory from MoveIt and sends it to Gazebo?
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