How to feedback joint positions to MoveIt?
I am working with a robot we built (with three joints), and control it through ROS such that everything goes well. However I have a doubt about how to properly feedback the joint states to moveit.
It is, currently I run demo.launch file and I created a node which subscribes to /joint_states topic and moves every motor to its own goal position (joint angle). Nevertheless, although I defined velocity in SRDF according with motors datasheets, I noted that robot in Rviz moves faster than real robot, such that trajectories (real and generated) mismatch. In order to avoid it, I just included a wait/sleep function to wait until every motor reaches its target before continuing to next position.
So, how could I feedback the current joint position directly to moveit and then to avoid the wait/sleep function?
