Add planning and execution for real robot

[tdl-ua]

Added code for planning and execution of trajectories on a real robot. Code was tested on a sia5f robot arm. Planned trajectories were executed.

[Danfoa]

Hi @tdl-tbslab, I am also integrating one motoman robot with ros for real hardware operation but I do have a question, I hope you can help me with it.

How and where is defined the ordering of the custom joint names of the controller_joint_names parameter?; for example I am using a dual arm robot and I am not sure whether this order is correct.

controller_joint_names: ['arm_left_joint_1_s','arm_left_joint_2_l','arm_left_joint_3_e'
,'arm_left_joint_4_u','arm_left_joint_5_r','arm_left_joint_6_b','arm_left_joint_7_t',
'arm_right_joint_1_s','arm_right_joint_2_l','arm_right_joint_3_e','arm_right_joint_4_u',
'arm_right_joint_5_r','arm_right_joint_6_b','arm_right_joint_7_t','torso_joint_b1','torso_joint_b2']

Sorry to bother mate, hope you can clear this up

I created a ROS-Answers question if anyone wants to answer there

[tdl-ua]

Hi @Danfoa,

My knowledge of ros-industrial and related packages is not too deep (yet). I stuck with this tutorial for putting together the code. In step 2.2, the _controller_jointnames parameter is mentioned, which is required when a robot has non-standard joint names. In there it says "The order of this list should match that expected by your robot's socket interface. Typically Base -> Tip." Following this instruction and the tags on our sia5f robot, the joint order would be [S L E U R B T]. This would also agree with the description in section 3.2 of wiki.ros.org/industrial_robot_client/joint_naming. Looking at the _joint_namessia5d.yaml-file in _motoman/motoman_sia5dsupport/config/, the same joint order is found.

I am, however, not familiar with dual arm configurations. I can only see one typo in your order. I think the second arm_right_joint_1_s should be named 'arm_right_joint_2_s'.

[Danfoa]

Thank you very much for the help @tdl-tbslab :). I will post here or in the question link if I have any updates.