Ideal method for end of arm tooling path generation

asked 2015-09-30 14:54:30 -0600

TheDude35 gravatar image


I have a custom moveit Rviz Fanuc 100ib arm simulation running and now I want to attach a tool and run a simulation where the tool moves along a path on an imported object. I'm not sure how I can accurately do this in multiple motions or by running nodes (executable C++ files). Right now I'm only able to move the robot arm from one position to another (start and goal point query) in the simulation. I've tried using echo rostopic joint_states to see the joint positions as I move the arm in Rviz but the joint positions remain the same in the terminal remain the same. Does anyone have any ideas on the best way to generate a tool-path using Moveit! and Rviz?

Regards, Devin

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Not a direct answer, but I really recommend you 'visit us' on the ROS-Industrial mailing list. We have a lot of industrial users there (and users that use industrial robots) that have dealt with this exact question.

gvdhoorn gravatar image gvdhoorn  ( 2015-10-01 13:47:05 -0600 )edit

Thanks, a quick search on the mailing list and I found the link to the cartesian path planner

TheDude35 gravatar image TheDude35  ( 2015-10-02 10:37:23 -0600 )edit