How to use MoveIt with predefined trajectories?

asked 2020-04-26 15:39:17 -0500

monabil gravatar image

Hi,

If I have a ROS compatible robotic arm and basically I need this arm to execute different trajectories based on the value received from another ROS node. In other words, I need the arm to do three different tasks in real life and these tasks would require executing three predefined trajectories. My question is, Can I use MoveIt in this scenario? if so, how would MoveIt select a trajectory out of the three predefined trajectories?

Thanks

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Comments

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move_group can execute trajectories you already have (there is a service which accepts a trajectory and executes it). However, you have to make sure they start where the robot currently is (ie: you cannot just send random trajectories to it).

MoveIt will not select anything for you, that would be up to you.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-27 04:18:10 -0500 )edit
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