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The Motion Planning API tutorial does not answer this, because it stops at visualizing the trajectory.
As commented in this question, you can still use the move_group's execute
function with your own plan, for example like this:
// [(continued from the tutorial)...]
context->solve(res);
moveit_msgs::MotionPlanResponse response;
res.getMessage(response);
// Construct a move_group plan from the planned trajectory
moveit::planning_interface::MoveGroupInterface::Plan myplan;
myplan.trajectory_ = response.trajectory;
group.execute(myplan);
Otherwise, my understanding is that you can use the interface of your robot/motors, most commonly a JointTrajectoryController
advertising a FollowJointTrajectoryAction
that you send your trajectory to.