I have a human model in Gazebo ROS.The controller is joint trajectory that works fine in ROS environment. Now I have to add a controller but that in Simulink ROS toolbox. Instead of sending Joint Positions I want to send End Effector positions. In other words I am working in Task Space and not in Joint Space. I am unable to access positions from joint trajectory blank message and could not find a solution for quite a while now.
I request if anyone can help me in this regard. I have gone through a question posted in 2017 with title
Simulink/ROS: Publishing JointTrajectory Messages
but it plans in joint space and inputs joint positions. I have to send position commands to my arm group to perform point to point trajectroy planing in Task space(cartesian space). Any help would be appreciated.
As an initial step, I have broken down my problem to first publish one joint position that is to my gripper finger. For this purpose I have used the idea mentioned in the above post highlighted in bold for my gripper joint movement. I do not get any erros in Matlab but I am getting the following error repeatedly in my ROS terminal and hence my joint is not actuated.
Dropping all 1 trajectory point(s), as they occur before the current time. Last point is 0s in the past.
I dont understand why this is happening. Anyhelp would be appreciated please. As if this gets published to the joint and it finally gets actuated, I can eventually take it up further to reach the bigger goal of planning in Cartesian Space.