Does move_group.plan(sampleJointTargetPose) implement MoveJ by default?
I am using a UR10
real robot. I am not using Universal_Robots_ROS_Driver
for robot control. I am using moveit move_group
to do collision check for a pair of start_state and goal_state in joint-space. I am simply using move_group.plan() method to figure out if a collision-free path exists between the two states. It works. But, we control the robot using MoveJ commands, So I am trying to figure out if the collision-free path that is generated by the move_group.plan()
and the paths that are in-general generated by MoveJ
command are both same?
If not, what is the correct way of doing this?
if yes, is there a better way to do this?