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Dear all,
as the question suggests, is it possible to have inside one MoveIt planning group, for example: a FollowJointTrajectory controller along with an effort_controllers/JointPositionController?
It looks like each planning group connects to a single action server advertising the respective action (e.g. /follow_joint_trajectory), 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.
The answer has already been given in the discussion. Any type of controller can be grouped into a planning group.
The trick is to define the group in roslaunch moveit_setup_assistant setup_assistant.launch and check if Pose is actually possible. And since the Generate Package generates a .srdf file, you should be able to use it in your Moveit by copying or editing a part of the group into your package.
Asked: 2020-05-07 14:03:10 -0600
Seen: 577 times
Last updated: May 28 '20
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