joint state publisher

Hello everyone,

my question is how can i create a joint state subscriber or publisher like ros# script ? ı want to control a robot arm via rviz with moviet.

ı upload a photo of ros# script for subs to joints.

thanks.

 

Hi, I am also working with the same robot.
I have created this. It works perfectly.

Code (CSharp):

1. using UnityEngine;
2. using Unity.Robotics.ROSTCPConnector;
3. using SensorUnity = RosMessageTypes.Sensor.JointStateMsg;
4. using System.Collections;
5.  
6. public class JointStateSub : MonoBehaviour
7. {
8.     [SerializeField] private string rosTopic = "joint_states";
9.     [SerializeField] private ROSConnection ROS;
10.     [SerializeField] private ArticulationBody[] robotJoints = new ArticulationBody[9];
11.     // Start is called before the first frame update
12.     void Start()
13.     {
14.         ROS = ROSConnection.GetOrCreateInstance();
15.         ROS.Subscribe<SensorUnity>(rosTopic, GetJointPositions);
16.     }
17.  
18.     private void GetJointPositions(SensorUnity sensorMsg)
19.     {
20.         StartCoroutine(SetJointValues(sensorMsg));
21.     }
22.     IEnumerator SetJointValues(SensorUnity message)
23.     {
24.         for (int i = 0; i < message.name.Length; i++)
25.         {
26.             var joint1XDrive = robotJoints[i].xDrive;
27.             joint1XDrive.target = (float)(message.position[i]) * Mathf.Rad2Deg;
28.             robotJoints[i].xDrive = joint1XDrive;
29.             Debug.Log(joint1XDrive.target);
30.         }
31.  
32.         yield return new WaitForSeconds(0.5f);
33.     }
34.  
35.     public void UnSub()
36.     {
37.         ROS.Unsubscribe(rosTopic);
38.     }
39. }

 

@medinafb01 Do you know how to use joint velocity controller?

At present, I have seen unity only has position controller.
If anyone knows how to setup joint velocity controller than please let me know.

 

@vermahrithik10 Hello,
No, I have not used it.

But I know it is possible to build it.
Here are some links that may help you:

How to create your own controller - Unity Robotics.
https://github.com/Unity-Technologi...ppendix.md#guide-to-write-your-own-controller

How a velocity controller works
https://modernrobotics.northwestern...-with-velocity-inputs-part-1-of-3/#department

One question, are you still using ROS# with the panda robot?