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arm navigation 6dof

asked 2016-03-12 09:57:25 -0500

Chickenman gravatar image

updated 2016-03-12 09:58:10 -0500

Hi guys

I created moveit package and wrote drivers for my 6 dof manipulator and I also can control manipulator with moveit. I also created joint trajectory action server for moveit and simulation of robot in Gazebo. But I dont like idea that I have to plan the path and than execute. I would like to use or create teleoperation control of my robotic manipulator with joystick "real-time". So it would follow the axes X Y Z and maybe do some basic rotations around point. Can you help me how to realize that and maybe give me som hints ?

Thanks for your help

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answered 2016-03-12 14:37:51 -0500

130s gravatar image

updated 2016-03-12 17:04:37 -0500

If your application needs a point-by-point control over the path rather than automated navigation between start and destination poses like MoveIt! does, you may use other tools. Descartes is good for that purpose.

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Thank you for your advice. It looks good and I will try to use that package

Chickenman gravatar image Chickenman  ( 2016-03-12 16:57:14 -0500 )edit

I'm also interested in this. But on that page is says "Similar to MoveIt, but different than other planners, Descartes is primarily focused on offline or sense/plan/act applications. Real-time planning is not a feature of Descartes." That sounds like it isn't able to do what Chickenman is asking.

Airuno2L gravatar image Airuno2L  ( 2016-03-14 12:03:50 -0500 )edit

yeah I read it too and I can use it for better trajectory planning but I am still looking for something for "real time" applications

Chickenman gravatar image Chickenman  ( 2016-03-15 04:00:01 -0500 )edit

Yeah, I wonder what that text is referring to when it says "other planners". If you find anything let me know, I'll do the same.

Airuno2L gravatar image Airuno2L  ( 2016-03-15 06:47:45 -0500 )edit

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Asked: 2016-03-12 09:57:25 -0500

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Last updated: Mar 12 '16