Hi All
My question here relates to how i can apply the techniques we learn here in other environments
In my case i created a robot from scratch following the URDFForRobotModdling course and now im trying to create a movit config for this robot and then move it in the gazebo simulator
Once i create my xacro definition of my robot im able spawn it in gazebo using what i learnt in the URDF course. I can even move it around using rqt_gui
But the topics that exist in my environment is
/buddy/body_M8yawlink_joint_position_controller/command
/buddy/body_M8yawlink_joint_position_controller/pid/parameter_descriptions
/buddy/body_M8yawlink_joint_position_controller/pid/parameter_updates
/buddy/body_M8yawlink_joint_position_controller/state
/spidy/joint_states
However in this course environment it magically has the topics
/sia10f/joint_states
/sia10f/joint_trajectory_controller/command
/sia10f/joint_trajectory_controller/follow_joint_trajectory/cancel
/sia10f/joint_trajectory_controller/follow_joint_trajectory/feedback
/sia10f/joint_trajectory_controller/follow_joint_trajectory/goal
/sia10f/joint_trajectory_controller/follow_joint_trajectory/result
/sia10f/joint_trajectory_controller/follow_joint_trajectory/status
Which looks like a different action server
when i spawned my robot i used a buddy_contoller.yaml which looked like
buddy:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
body_M1yawlink_joint_position_controller:
type: effort_controllers/JointPositionController
joint: body_M1yawlink_joint
pid: {p: 3.0, i: 1.0, d: 0.0}
should i be changing this file? do i need to use a different “type” instead of "effort_controllers/JointPositionController’
Can you please go into how this robot was spawned int gazebo? And how i can spawn my own robot so it too can be used by moveit using the same topics?