In this tutorial, I showed how you can use follow_joint_trajectory controller's command topic to publish desired values using a python-node-based publisher in ROS.

This is kinda continuation of a my previous tutorials on Industrial Arm simulation but the robot I used is rather a simpler one than an industrial robot. However, the node can be used with any ROS-enabled robotic arm (if relevant changes are made, ofcourse).

The codes and ROS package is available at:
[ Ссылка ]

свернуть