Cannot move robot arm with articulation controller through ROS1 bridge


I am trying to command a robot arm through the ROS bridge using a position target. I have attached the USD I am using.
fanuc_test.usd (6.1 KB)

I am able to read the joint state by echoing the /joint_states topic, so I know the ROS bridge is basically functioning. However, as stated, I am trying to command the robot to move using the following /joint_command :
rostopic pub /joint_command sensor_msgs/JointState “header:
seq: 0
stamp: {secs: 1, nsecs: 0}
frame_id: ‘’
name: [‘joint_1’,‘joint_2’,‘joint_3’,‘joint_4’,‘joint_5’,‘joint_6’]
position: [90,0,0,0,0,0]”

But the robot does not move at all. Initially I also tried with position vector {1,0,0,0,0,0} which should be withing limits if they are in radians. But either way, the robot does not move. I also don’t see any change in the joint efforts (by echoing /joint_states) when I publish this topic. Please advise what properties may be missing or if some configuration is wrong.

Thank you

I was able to resolve the issue by connecting the Exec Out from ROS1 Joint Subscriber to Exec In in Articulation Controller.

This may be a mistake in the ROS1 Migration Tutorial.

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