**My goal**
My goal is to have the [pincher arm](http://wiki.ros.org/turtlebot_arm) simulated in Gazebo and control its
movements programmatically (preferably through [MoveIt](http://moveit.ros.org/)). I don't want/need the turtlebot itself, just the arm.
**What I've done**
I have git cloned & catkin build & sourced the [packages](https://github.com/turtlebot/turtlebot_arm) for the turtlebot arm (and also the [arbotix-packages](https://github.com/vanadiumlabs/arbotix_ros)), and there are already the description package (with the urdf-files), a MoveIt package and various other packages in the repository, but unfortunately no Gazebo package. I can run the MoveIt demo (`roslaunch turtlebot_arm_moveit_config demo.launch`) where one can set the goal pose of the arm in Rviz and plan & execute the arm to get to the desired pose. I know that one can do that also programmatically through a python script or a C++ program (as described [here](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html)).
I tried to make a Gazebo package myself, taking the one from the [universal robot](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_gazebo) as a template, but I'm a bit lost with all the files in there. I managed to load the robot arm into Gazebo (with the base_link fixed), but there the arm just falls down, as if there were no controllers running. With the running Gazebo simulation, I get the following `rostopic list`:
/gripper_controller/gripper_action/cancel
/gripper_controller/gripper_action/feedback
/gripper_controller/gripper_action/goal
/gripper_controller/gripper_action/result
/gripper_controller/gripper_action/status
/gripper_joint/command
My Gazebo launch file looks like this:
(see [here](https://github.com/joellutz/pincher_arm_test/blob/master/turtlebot_arm_gazebo/worlds/turtlebot_arm.world))
I'm running Gazbebo 7.11.0 with ROS Kinetic on a Ubuntu 16.04 (in a VM on a Win10 host).
**My question**
What do I have to do in order to control the turtlebot arm not only in Rviz, but also in Gazebo? I'm relatively new to Gazebo/ROS, so apologises if this seems lika a trivial task to you. Thank you for your help!
**UPDATE**
I managed to get the (pincher) arm move in Gazebo! If you want to have a look at the packages: https://github.com/joellutz/pincher_arm_test. I can move the arm (and the gripper) in MoveIt & Rviz, and the arm also moves in Gazebo.
What I'm still missing: I had to create a own control-package with controllers etc. But there are already controllers from [arbotix](https://github.com/corb555/arbotix_ros) for the PhantomX Pincher Arm, which are needed to move the arm around in real life. They are also used in the `turtlebot_arm_bringup/launch/arm.launch`, and I don't want to have separate things for the simulation and the real world. So my question is: *How can I get this to work with the arbotix controllers, rather than my own control package?*
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