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 | 1 | initial version |
Had the same problem and after a lot of websearches I ended up writing an ActionLib Server for the FollowJointTrajectoryAction
You get the list of goals for each link in trajectory/points
You should publish the feedback for each goal while also watching preempt_requested.
Moveit expects you to return FollowJointTrajectoryResult.SUCCESSFUL in FollowJointTrajectoryActionResult if all went well.
| | 2 | No.2 Revision |
Had the same problem and after a lot of websearches I ended up writing an ActionLib Server for the FollowJointTrajectoryAction
You get the list of goals for each link in trajectory/points
You should publish the feedback for each goal while also watching preempt_requested.
Moveit expects you to return FollowJointTrajectoryResult.SUCCESSFUL in FollowJointTrajectoryActionResult if all went well.
In case it helps I uploaded my implementation (python) to github, no guarantees given.
| | 3 | No.3 Revision |
Had the same problem and after a lot of websearches I ended up writing an ActionLib Server for the FollowJointTrajectoryAction
You get the list of goals for each link in trajectory/points
You should publish the feedback for each goal while also watching preempt_requested.
Moveit expects you to return FollowJointTrajectoryResult.SUCCESSFUL in FollowJointTrajectoryActionResult if all went well.
In case it helps I uploaded my implementation (python) to github, no guarantees given.
The new angle is send to hardware with the to_angle() call (not in this repos). The interface is
def to_angle(axis, speed=255, angle=0)
where axis is the axis number (0..5), speed the motor pwm speed and angle in rad.
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