ROS and UR5 Built-in Controller
I am currently working on a project that involves controlling a UR5 with ROS and I have been able to do a Moveit setup for the robot and also control it through external python scripts. Now, my question is this:
Is there a way to control the robot (from ROS) by using its own controller (hardware and software) for path planning and inverse kinematics?
this will depend on your perspective (and expectations), but I don't believe that what a typical industrial robot controller / the UR controller does can be considered planning. It essentially just interpolates between two or more jointspace / Cartesian poses. ..
.. Can you tell us what it is that you actually want to do?