MoveIt2: Use another controller than JointTrajectoryController

asked 2023-05-12 07:09:27 -0500

mdg gravatar image

Hi, Is is possible to use another controller from ros2_control for MoveIt2 path execution? The documentation (https://moveit.picknik.ai/humble/doc/...) states this:

"MoveIt typically publishes manipulator motion commands to a JointTrajectoryController."

The use of the word "typically" implies there are other options. But is it possible to use the other controllers in ros2_control?

Thanks!

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