I recently bought a 6 dof DIY robot arm, 7 servos (with gripper) no feedback
I tried to make an accurate simple urdf, and then with moveit setup assistant i created a moveit package,
since i dont want to use ros control (i am not good on that, and i dont need it), moveit seems to want a FollowJointTrajectory action server that ros control typically handles, however i found an executable that does that for me, I was able then to make another node to listen to the arm_controller/follow_joint_trajectory/goal topic and extract the trajectory points, which i plan with some transformation to send to my rosserial node for execution on the real robot.
Is there a simpler way to do that? i think i will also need to publish a sensor_msgs/JointState topic to publish the new joint_state values (assuming perfect execution) for arm TF.
Also moveit_simple_controller_manager/MoveItSimpleControllerManager plugin seems to not work for me,
so in essence what i should do to easily control a arm without feedback and preferably without ros control?
they way i am currently headed i think the robot should be able to execute the trajectory but it will not respond to action cancel for example etc.
I hope i make sense!!