We are looking to purchase a GP12 robot for a task that involves conveyor tracking. The task at hand is to perform compressed air blowing on an automotive part that is moving on a conveyor at a speed of 2 cm/s, the compressed air needs to be blown on the full surface of the part similar to painting it, we use an in-house system that can dynamically generate the path from a point cloud for each unique part which then gets streamed to the robot for execution.

We typically work with a UR10 and this task is possible using FZI's cartesiancontrollers but Mr. G.A. van der Hoorn on github said that it is incompatible as motomandriver doesn't use roscontrol. cartesiancontrollers basically allows streaming 6D target poses wrt to a dynamic coordinate frame, to the robot. From what I have read until now, it looks like motoman_driver can only take an end to end trajectory that is generated ahead of time and execute it.

Is there a way to perform the specified task using ROS on a GP12 robot ? If it is not possible through ROS, is there an alternate way to accomplish this task? Is there a way to control the robot using dymanically published cartesian points (xyz-rpy) ?