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Seeing as each planning group connects to a single action server advertising the respective action (e.g. /follow_joint_trajectory), I would suspect no. But you could write a custom controller for your robot that accepts the FollowJointTrajectory goal, passes part of it to a "real" FollowJointTrajectory controller and then does something else for a few of the joints, if that's what you're after.

Seeing as It looks like each planning group connects to a single action server advertising the respective action (e.g. /follow_joint_trajectory), I would suspect no. But but since you can combine multiple planning groups into another one, you should be able to use that meta planning group to control your two subgroups which use different controllers.

If that doesn't work, you could write a custom controller for your robot that accepts the FollowJointTrajectory goal, passes part of it to a "real" FollowJointTrajectory controller and then does something else for a few of the joints, if that's what you're after.joints.