integrating subsequent trajectories

edit

Hi There,

We are using Moveit to move a BAXTER arm. The scenario of our application is to move the end-effector with small distances in Cartesian space till we reach a final goal. So each time we receive a new movement to execute we call group.computeCartesianPath() to compute the related joint trajectory. The problem is that each produced trajectory has a velocity profile that starts from zero and ends with zero, forcing the arm to stop/start between each two subsequent movements.

So we are looking for a way that can make it possible to easily integrate those subsequent movements without requiring the arm to stop/start between them. Anyone has any idea of how to do that?

Cheers!

Ghanim