Commanding "MoveIt!" with a pad

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Hello Isucan, thak your for answering! Currently, I can move the real arm via rviz and "moveit_commander". I want to be able to move the arm with a pad in cart./euler, using the functionality provided by the commander method, however, I can't. When I used Fuerte, I used the KDL methods to do this.

I am afraid I am not familiar with the KDL methods you are talking about. moveit_commander does have the functionality you like in both Python and C++. You can plan motions to Cartesian poses or move in straight lines. Can you give more details on the problem? Is it just the slow response?

Dear Ioan. I want to use a joystick/pad to use jog commands in my robot. I was planning to use the stick of the pad to send references in X/Y/Z as little increments. With this, the behaviour of the arm should be like if we were sending velocity references to the TCP. Instead of getting a continuous movement, we are obtaining 0.4-1.3 second (approx.) steps, making the robot uncontrollable. Can I modify the function or the planner behaviour to get that? Maybe does exists another function for jog commands?

It sounds to me like you do not want to plan motions then. The moveit_commander package attempts to compute motions that avoid collisions and self collisions. It is possible you have detailed meshes representing your robot, which increases planning time. I think you should send the commands directly to the controller instead of using moveit_commander.

Dear Ioan. In that case, what do you suggest me toperform that? I need a solver to work with cartesian/euler in the TCP (Jacobian Transformation), and I thought that with the services provided with "MoveIt" I could make that, with the advantages of avoiding collisions and self collisions. Thank you very much.

I think you should use the kinematics API directly: http://moveit.ros.org/wiki/Kinematics/C%2B%2B_API There is also a ROS service for this (see moveit_msgs/GetPositionIK.srv), provided by a default move_group capability.