Project architecture and RViz

asked 2015-06-18 10:21:53 -0600

Matthieu_D gravatar image

Hi everyone,

I would like to know if the following architecture sounds correct / relevant to you, concerning its interaction with RViz:

image description

We're designing a robot, made of a robotic arm (UR5) mounted on a mobile base. In RViz, we'll display a .step file (from CAD software, STEP parser homemade) holding some B-Spline surfaces and curves, and we want the arm's tip to move along such surfaces / curves. To do so, with the _MoveIt!_ package we'll do the trajectory planification, sample this trajectory, do the IK with _MoveIt!_ again, send it to a ROS controller, then loop it to RViz for visualization feedback.

Does anything sound wrong to you? At least is it clear enough?

Thanks for your reply.


edit retag flag offensive close merge delete