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I'm wondering if for this kind of 'low-level' dynamic task MoveIt is currently a good component to use. It seems there is very little planning needed here, which is what MoveIt is good at (but for which it needs some time).

If you already know where you need your TCP to go, it might make sense to generate a Cartesian trajectory yourself (basically interpolate between two poses: current and target), then use any IK service to convert those into joint space poses and feed them directly to your driver / action server. For true low-latency execution I'd imagine a driver / action server capable of something like trajectory replacement would be needed.

PS: may I ask which interface your are using to your ABB? The ROS-Industrial abb_driver package currently uses a download approach instead of streaming, which could negatively impact performance with these kind of tasks.

I'm wondering if for this kind of 'low-level' dynamic task MoveIt is currently a good component to use. It seems there is very little planning needed here, which is what MoveIt is good at (but for which it needs some time).

If you already know where you need your TCP to go, it might make sense to generate a Cartesian trajectory yourself (basically interpolate between two poses: current and target), then use any IK service to convert those into joint space poses and feed them directly to your driver / action server. For true low-latency execution I'd imagine a driver / action server capable of something like trajectory replacement would be needed.needed (if not using a package that supports direct streaming of position set points).

PS: may I ask which interface your are using to your ABB? The ROS-Industrial abb_driver package currently uses a download approach instead of streaming, which could negatively impact performance with these kind of tasks.