Smooth JointTrajectory calculation
HI.I wrote simple adapter to my robot that listen topic with JointTrajectory messages, and motors drivers rotating motor angles by this messages.
First question: is JointTrajectory good option for this task?
All motor features hidden from me, and i cant control motor in low level layer, i just can set rotation angle. One of the features- limitation of instant angle rotation (for example: it cant move from 0 deg to 90deg instantly, because limit on 50deg and it stops on 50deg). That limitation implemented in low level layer of motor and i don't have access to it. Right way, i think, to rotate it smoothly, by small angle, and small time interval.
Second question: what can i use in ros, to calculate JointTrajectory with smooth joint rotation? I know i can calculate by myself, but i just want to know if some tool is exist.
Thank you.
