custom robot using moveit
Hi, using moveit setup assistant we have implemented planing from start pose to goal pose to run the servo motor ,we are able to get the servo drive to run from start pose to goal pose position and while returning from goal pose position to start pose position the servo motor is returning very fast not gradually as it was moving to goal pose.
is there any way to get the trajectory position gradually moving from goal pose to start pose.
Can you tell us more about your setup. We don't have enough information to help you here? How are you driving your motors? how are you controlling moveit?
I am using Ethercat rtnet to drive servo motor in cyclic synchronous position mode and I am using moveit to teach the robot position start pose and goal pose we are able to get to move the servo motor to goal pose, returning back to start pose the servo motor gets position zero command and the servo motor drives very fast I am attaching the yaml, urdf and srdf file.
our main idea is we need to use moveit to teach the position to move the servo motors. and run continuously for our target like pick and place.
Thank you R. Ashokkumar
When you say you're returning back to the start pose how are you controlling that? By re-running the last trajectory? It sounds like a single position update is being sent so the servo is trying to get there as fast as it can. Unlike the planned trajectory which will have a set of small movements in time. Have you tried planning a movement back from the goal to the start and executing that plan?
I don`t know how to plan movement from goal pose to the start pose and execute it with the same trajectory using moveit.