please use catkin_scara.zip package to build on your PC. catkin_make Start the controllers using roslaunch
Test the Scara controlled by ros_control by running the following:
roslaunch scara_gazebo scara_world.launch
roslaunch scara_control scara_control.launch
If you first load the scara_control.yaml files to the parameter server, you could load the controllers manually through service requests. We'll include them here for reference though we usually prefer roslaunch:
rosservice call /scara/controller_manager/load_controller "name: 'joint1_position_controller'" rosservice call /scara/controller_manager/load_controller "name: 'joint2_position_controller'"
rosservice call /scara/controller_manager/switch_controller "{start_controllers: ['joint1_position_controller','joint2_position_controller'], stop_controllers: [], strictness: 2}"
rosservice call /scara/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['joint1_position_controller','joint2_position_controller'], strictness: 2}"
Followed the gazebo tutorials added motor plugins for 3 joints in scara.xacro added gazebo pluggins in launch file and added joint3
rostopic pub -1 /scara/joint1_position_controller/command std_msgs/Float64 "data: 1.5"
rostopic pub -1 /scara/joint2_position_controller/command std_msgs/Float64 "data: 1.5"
rostopic pub -1 /scara/joint3_position_controller/command std_msgs/Float64 "data: 1.0"
if you want to run in your pc
take 'gazebo_ros_demo' folder in to your src
catkin_make
roslaunch rrbot_gazebo world.launch
rosrun rrbot_control fk.py
rostopic echo /arm_pose
rosrun rrbot_control ik.py
rosservice call /inver_server
source devel/setup.bash
python files as executing files(right click the file and go to permission and allow it as executing file)