Stopping the arm movement when the arm is in motion

asked 2018-01-23 20:17:05 -0600

fc23 gravatar image

So me and my friend are making an android app to control Baxter (which uses ROS).

Right now we have a joystick control to control its arms using IK, however things are extremely slow and we were looking at how we can make the movement of the arm smoother.

We came up with an idea however our idea requires stopping the arm movement while the arm is in motion.

Is there a command in ROS/Baxter that does that?

We are using this socket server: https://github.com/AndrewChenUoA/baxt... to send commands to from our app and that sends the command to baxter.

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we have a joystick control to control its arms using IK, however things are extremely slow

are you putting MoveIt in the loop here? If you are, then (re)planning each time for a new target pose is going to be slow, but probably also unnecessary.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-24 03:19:09 -0600 )edit