Hello - maybe Im overthinking things, but Im attempting to initialize my UR5 control arm according to the Step 4 Custom Controller instructions and I cant figure out how to launch the UR5 arm into the desired final position…
Ive researched the ur_description package and I couldnt find a way to initialize a position, as well as looking for examples for the yaml configurations…
The only thing I can think is to create a launch file that starts the controller_manager/spawner with the correct arguments, and then a .py file created that publishes specific data: X.X cmds to each of the necessary ur5/*/command topics?
In order to initialize the joint to a certain position, you have to do it (in this case) from the custom controller C++ file itself. Similar to what you did in the previous Unit. If you have not created this custom controller, then probably this is why it’s not detecting it in the corrector.