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Sarah D.R.'s profile - activity

2016-05-08 15:36:00 -0500 marked best answer Motion planing for Yaskawa Motoman MH5f

Hi everybody,

I got from Yaskawa the MotoPlus runtime package and I installed the motoman_driver packages. I also used the move_to_joint.py to move the robot and wrote my own c++-Application sending the robot (publishing it in the joint_path_command topic) a JointTrajectory defined by a simple JointTrajectoryPoint. This works quite good. I have also some experience IkFast to make the Ik ond FK- Transformations.

But now I want to be able to send an whole path to the robot and to plan the path.

I have basically no idea how I could do this. I think I should use MoveIt!, but there are no specefications on the MoveIt! Homepage for my robot.

Could you explain me which packages I may need to install for this and which kind of message I have to publish whereever? Or is there an example or Tutorial for this?

Thank you!

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