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 | 1 | initial version |
From my understanding with ROS control, you send a goal state and the controller does the rest.
MoveIt! creates a collision free trajectory when planning and can be executed through the ROS controller. Within MoveIt! you can specify Cartesian paths, joint goal positions, or Cartesian goal poses.
| | 2 | No.2 Revision |
From my understanding with ROS control, you send a goal state and the controller does the rest.
MoveIt! creates a collision free trajectory when planning and can be executed through the ROS controller. Within MoveIt! you can specify Cartesian paths, joint goal positions, or Cartesian goal poses.
Edit: It sounds like you would want a position_controller then. With this you are able to send joint position commands and/or trajectories. You will have to use MoveIt! in between to convert from Cartesian position to joint positions.
There are a few tutorials out there for adding a ROS controller to your URDF.
| | 3 | No.3 Revision |
From my understanding with ROS control, you send a goal state and the controller does the rest.
MoveIt! creates a collision free trajectory when planning and can be executed through the ROS controller. Within MoveIt! you can specify Cartesian paths, joint goal positions, or Cartesian goal poses.
Edit: It sounds like you would want a position_controller then. With this you are able to send joint position commands and/or trajectories. You will have to use MoveIt! in between to convert from Cartesian position positions to joint positions. Also have the option of connecting actual robot to ROS controller or one in simulation.
There are a few tutorials out there for adding a ROS controller to your URDF.
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