[How-To] How to start coding own software

[MightyMirko]

Hello,

i'd like to write my own publishing node for angles or cartesian positions but i dont know how and where to start.

My goal is to mount a camera on the iiwa7 and track a moving qr code or aruco tag. The detection is almost done and now i'd like to publish and transform the pose of the tag to iiwa to follow the tag with movements.

Where should i start?

#5 #32

[mcbed]

Hi @MightyMirko,
To send Cartesian targets to the robot you need to use Moveit2. You can do this by starting the launch file with the flag use_planning:=true.
Also I saw you are using foxy which does not work very well, I suggest you consider switching to humble.

[MightyMirko]

Hello @mcbed, doing the installation right now - ill test it and like to use this thread as a howto in the next couple of week :-)

[MightyMirko]

Finally i had some time to go for it again. Now everything is running well and i can move the robot in rviz, pilz planner and drag it around. I want to write a node which takes the current joint states, do some calculation and move the robot around.
What would be a good starting point?