Hello,
Wanted to know if it possible to associate a robot program, written in the robot language so not necesseraly ROS, when spawning its model in Gazebo ?
To be more precise, this is what I would like to achieve :
— TCP communication between a custom app and Gazebo in order to :
- send a robot model name so it is spawned in a simulation (for example an UR3)
- send a task name (for example "pick_object") so when it received in Gazebo, the pre-programmed "pick_object" function (programmed in urscript) is launched.
In real life I actually have the "pick_object" function programmed in URscript directly on my UR3 controller and can start it by sending something from a TCP socket to the robot controller. So I basically wish to do the same thing in a simulated environment. So far, I think it is possible from what I read, but not sure about the pre-programmed thing. I kind of have the feeling you can control robot only using ros topics.
Thank you for your help
