How can I write my own jointtrajectorycontroller for moveit

asked 2020-05-10 14:43:02 -0500

Raghu kolla gravatar image

updated 2020-06-18 17:25:52 -0500

Do I need to send any feedback to moveit while writing this? how does moveit collect joint states info. Does rviz visualisation automatically take the robot states info from joint states or from moveit?.

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1) Why do you want to do this? 2) Have you looked at any reference implementations? 3) What have you tried and what are you stuck on?

fvd gravatar image fvd  ( 2020-05-13 22:54:43 -0500 )edit

im trying to use moveit with a stepper motor robot. for smooth movement of stepper motors they need very high frequency pulses. this cant be achieved if i run the controller on the system running ros. So i wanna send the joint trajectory messages to a microcontroller and control it from that directly. For this I need a custom trajectory controller. I searched for days, but couldnt find any reference implementations.

Raghu kolla gravatar image Raghu kolla  ( 2020-05-15 13:13:24 -0500 )edit