How to control the arm ??? with moveit

Abduoit commented 7 years ago

I run arbotix_terminal and I detect my five servos

Then, I run roslaunch turtlebot_arm_bringup arm.launch until I see [INFO] [1506951666.556013]: ArbotiX connected

But when I run roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch I get the following error, Please tell me how to control the arm ?? by rviz or moveit ???

abdulrahman@abdulrahman-ThinkPad-X230-Tablet:~$ roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch 
... logging to /home/abdulrahman/.ros/log/aa1bb15c-a77d-11e7-a80b-e09d31097f54/roslaunch-abdulrahman-ThinkPad-X230-Tablet-3150.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://abdulrahman-ThinkPad-X230-Tablet:35791/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/controller_list: [{'joints': ['arm...
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: turtlebot_arm_arm...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/arm_elbow_flex_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_elbow_flex_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_elbow_flex_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_elbow_flex_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/arm_wrist_flex_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_wrist_flex_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_wrist_flex_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_wrist_flex_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/gripper_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_joint/max_velocity: 0.785
 * /robot_description_planning/joint_limits/gripper_link_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_link_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_link_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_link_joint/max_velocity: 1
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151/arm/kinematics_solver: turtlebot_arm_arm...
 * /rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151/arm/kinematics_solver_attempts: 3
 * /rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151/arm/kinematics_solver_timeout: 0.005
 * /source_list: ['/move_group/fak...

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[joint_state_publisher-1]: started with pid [3172]
process[robot_state_publisher-2]: started with pid [3173]
process[move_group-3]: started with pid [3174]
process[rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151-4]: started with pid [3182]
[ INFO] [1506954415.663253112]: Loading robot model 'turtlebot_arm'...
[ INFO] [1506954415.663592667]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1506954415.730456015]: rviz version 1.12.10
[ INFO] [1506954415.730502900]: compiled against Qt version 5.5.1
[ INFO] [1506954415.730521112]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1506954415.764070772]: arm_shoulder_pan_joint -2.617 2.617 1
[ INFO] [1506954415.764167415]: arm_shoulder_lift_joint -2.617 2.617 1
[ INFO] [1506954415.764219931]: arm_elbow_flex_joint -2.617 2.617 1
[ INFO] [1506954415.764269923]: arm_wrist_flex_joint -1.745 1.745 1
[ INFO] [1506954415.764319877]: gripper_link_joint -3.14 3.14 1
[ INFO] [1506954415.793705372]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1506954415.799552869]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1506954415.799644522]: Starting scene monitor
[ INFO] [1506954415.804215477]: Listening to '/planning_scene'
[ INFO] [1506954415.804295494]: Starting world geometry monitor
[ INFO] [1506954415.808632699]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1506954415.813097515]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1506954415.844158248]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1506954415.908991778]: Initializing OMPL interface using ROS parameters
[ INFO] [1506954415.950697547]: Using planning interface 'OMPL'
[ INFO] [1506954415.992013862]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1506954415.993102403]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1506954415.994040546]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1506954415.994944155]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1506954415.995921021]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1506954415.996493366]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1506954415.996555243]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1506954415.996582120]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1506954415.996607920]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1506954415.996629761]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1506954415.996653164]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1506954416.035660329]: Fake controller 'fake_arm_controller' with joints [ arm_shoulder_pan_joint arm_shoulder_lift_joint arm_elbow_flex_joint arm_wrist_flex_joint gripper_link_joint ]
[ INFO] [1506954416.036256393]: Fake controller 'fake_gripper_controller' with joints [ gripper_joint ]
[ INFO] [1506954416.036725996]: Returned 2 controllers in list
[ INFO] [1506954416.049330671]: Trajectory execution is managing controllers
[ INFO] [1506954416.073566553]: Stereo is NOT SUPPORTED
[ INFO] [1506954416.073662947]: OpenGl version: 3 (GLSL 1.3).
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1506954416.216453893]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1506954416.216574010]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1506954416.216614559]: MoveGroup context initialization complete

You can start planning now!

terminate called after throwing an instance of 'Ogre::Exception'
  what():  OGRE EXCEPTION(5:): Could not find font Liberation Sans in MovableText::setFontName
[rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151-4] process has died [pid 3182, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/abdulrahman/catkin_ws/src/turtlebot_arm/turtlebot_arm_moveit_config/launch/moveit.rviz __name:=rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151 __log:=/home/abdulrahman/.ros/log/aa1bb15c-a77d-11e7-a80b-e09d31097f54/rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151-4.log].
log file: /home/abdulrahman/.ros/log/aa1bb15c-a77d-11e7-a80b-e09d31097f54/rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151-4*.log

Zabot commented 7 years ago

This looks like an issue with rviz. Try removing the rviz launch from turtlebot_arm_moveit.launch and see if the launch still crashes. If it doesn't try reinstalling rviz.

  <!-- Run Rviz and load the default config to see the state of the move_group node -->
  <include file="$(find turtlebot_arm_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

Abduoit commented 7 years ago

Thanks @Zabot

Now, I got rviz and moveit. BUT when I change the virtual arm and press plan and execute, the actual arm is not moving. ??

corot commented 7 years ago

Well, many different things can be happening here... can you provide more details, mostly the log. Basic checks:

[ ] Do you see the arm in RViz with its real physical pose? (otherwhise said, are joints state properly published?)
[ ] If not, are the motors really powered? Or is the arbotix driver properly connected with the board. Nice way to test this is the arbotix GUI, that allows you to control each motor individually
[ ] Is the trajectory controller available and working? (you can directly call the action server using for example rosrun actionlib axclient.py
[ ] Is MoveIt handling the trajectory controller? (check for example with rostopic info the action goal, if MoveIt is publishing to it

Abduoit commented 7 years ago

@corot

-The arm in rviz with its real physical position, I moved the physical arm and I saw its moving in rviz.

I could control individual joint by arbotix_gui
for actionlib axclient.py, I run rosrun actionlib axclient.py action_topic actionlib/TwoIntsAction

I got window of actionlib/TwoIntsAction GUI Client. Gaol says a:0, and b:0

-I don't know how to check your last suggestion Is MoveIt handling the trajectory controller? (check for example with rostopic info the action goal, if MoveIt is publishing to it

corot commented 7 years ago

I mean, you can check if moveit publishes on your arm contoler action server, e.g.

rostopic info /arm_controller/follow_joint_trajectory/goal

if so, echo the goal when you send one on RViz

rostopic echo /arm_controller/follow_joint_trajectory/goal

For sending a goal to the controller, you can use

rosrun actionlib axclient.py /arm_controller/follow_joint_trajectory

but it's true it will be very tedious to specify a joint trajectory, so better try to make RViz MoveIt plugin work, or try to command the arm using code. You can find an example in python here.

huseyin26es commented 6 years ago

Hi Did you solve this problem? I have a same problem with yours, i coould not still handle it.

corot commented 6 years ago

Hi, I cannot fix something I cannot reproduce. Please follow the checks in my previous comment and report here the outcome.

huseyin26es commented 6 years ago

rostopic info /arm_controller/follow_joint_trajectory/goal

output : Type: control_msgs/FollowJointTrajectoryActionGoal

Publishers: None

Subscribers:

/arbotix (http://huseyin:45015/)

why the publisher is none , do you have any idea ?

corot commented 6 years ago

So MoveIt! is not connected to the arm controller action server. Any error in the log?

huseyin26es commented 6 years ago

now , i can control arm with arbotix_gui command. What exactly do you mean with log ?

huseyin26es commented 6 years ago

and why moveit not is connecting arm, i think i did everything correct.

corot commented 6 years ago

Well,,, Publishers: None means MoveIt! is not sending goals to the arm

arbotix_gui is different because it talks directly to every joint, not the FollowJointTrajectory controller

huseyin26es commented 6 years ago

yes , i understand now. What should i do now for controlling in MoveIt! ?

corot commented 6 years ago

Unless there's an error, it should just happen. Check the log for errors. I'll take a look later. You launch :

roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch

right?

corot commented 6 years ago

Hi, I think I found your problem; you must add sim:=false to your launch command. If not, you are using MoveIt! just to command a "virtual" arm, not your real one. So try to launch:

roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch sim:=false

huseyin26es commented 6 years ago

Yes you are right, i did and it moves the robot :D Thanks a lot .

turtlebot / turtlebot_arm

How to control the arm ??? with moveit #32